Bernardes et al., 2014 - Google Patents
3D robust online motion planning for steerable needles in dynamic workspaces using duty-cycled rotationBernardes et al., 2014
- Document ID
- 17730245857917618131
- Author
- Bernardes M
- Adorno B
- Borges G
- Poignet P
- Publication year
- Publication venue
- Journal of Control, Automation and Electrical Systems
External Links
Snippet
This work presents a closed-loop strategy for 3D online motion planning of beveled steerable needles using duty-cycled rotation. The algorithm first selects an entry point that minimizes a multi-criteria cost function and then combines an RRT-based path planner with …
- 238000004422 calculation algorithm 0 abstract description 44
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00331—Steering mechanisms with preformed bends
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