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Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and Optimization
We present a method that plans motions for a concentric tube robot to automatically reach surgical targets inside the body while avoiding obstacles, where the patient’s anatomy is represented by point clouds. Point clouds can be generated intra-operatively via endoscopic instruments, enabling the sy...
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| Veröffentlicht in: | Rep U S |
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| Hauptverfasser: | , , |
| Format: | Artigo |
| Sprache: | Inglês |
| Veröffentlicht: |
2020
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| Schlagworte: | |
| Online Zugang: | https://ncbi.nlm.nih.gov/pmc/articles/PMC7191995/ https://ncbi.nlm.nih.gov/pubmed/32355572 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/IROS40897.2019.8968172 |
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