Adaptive path planning for steerable needles using duty-cycling

Author

Bernardes, Mariana C. ; Adorno, Bruno V. ; Poignet, Philippe ; Zemiti, Nabil ; Borges, Geovany A.

Author_Institution

LIRMM, Univ. Montpellier 2, Montpellier, France

fYear

2011

fDate

25-30 Sept. 2011

Firstpage

2545

Lastpage

2550

Abstract

This paper presents an adaptive approach for 2D motion planning of steerable needles. It combines duty-cycled rotation of the needle with the classic Rapidly-Exploring Random Tree (RRT) algorithm to obtain fast calculation of feasible trajectories. The motion planning is used intraoperatively at each cycle to compensate for system uncertainties and perturbations. Simulation results demonstrate the performance of the proposed motion planner on a workspace based on ultrasound images.

Keywords

adaptive control; compensation; medical robotics; needles; path planning; perturbation techniques; position control; random processes; trees (mathematics); ultrasonic imaging; uncertain systems; 2D motion planning; RRT algorithm; adaptive path planning; compensation; duty-cycled rotation; duty-cycling; feasible trajectory; perturbations; rapidly-exploring random tree algorithm; steerable needles; system uncertainty; ultrasound images; Kinematics; Legged locomotion; Needles; Planning; Trajectory; Ultrasonic imaging; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Conference_Location

San Francisco, CA

ISSN

2153-0858

Print_ISBN

978-1-61284-454-1

Type

conf

DOI

10.1109/IROS.2011.6094594

Filename

6094594