path planning

Robust Path Planning via Learning from Demonstrations for Robotic Catheters in Deformable Environments
Robust Path Planning via Learning from Demonstrations for Robotic Catheters in Deformable Environments 789 444 IEEE Transactions on Biomedical Engineering (TBME)
This study presents a robust path planning framework for motorized steerable catheter, which uniquely considers both the deformable nature of the environment and the dynamic movements of the target. read more

Towards 3D ultrasound guided needle steering robust to uncertainties, noise and tissue heterogeneity
Author(s)3: Guillaume Lapouge, Philippe Poignet, Jocelyne Troccaz
Towards 3D ultrasound guided needle steering robust to uncertainties, noise and tissue heterogeneity 170 177 IEEE Transactions on Biomedical Engineering (TBME)
This paper presents robust flexible needle steering for robotized punctures guided by 3D ultrasound (US) images. Reaching a target in biological tissue involves being able to detect the inserted needle in the 3D image, to plan a path from its current position and to control motion, at each instant. The proposed approach is able to face the low quality of images, the high variability of biological tissue and the limited ability to capture needle-tissue interactions in a model. Experiments on multi-material phantoms and ex-vivo biological tissue demonstrated the system ability to reach, accurately, US-defined targets using generated 3D helical paths. read more
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