102 citations · 148 across the 13 of their papers we have counts for
4 papers · 1 filter
Resolution-Optimal Motion Planning for Steerable Needles
Mengyu Fu, Kiril Solovey, Oren Salzman +1
Medical steerable needles can follow 3D curvilinear trajectories inside body tissue, enabling them to move around critical anatomical structures and precisely reach clinically sign…
Toward Certifiable Motion Planning for Medical Steerable Needles
Mengyu Fu, Oren Salzman, Ron Alterovitz
Medical steerable needles can move along 3D curvilinear trajectories to avoid anatomical obstacles and reach clinically significant targets inside the human body. Automating steera…
Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search
Mengyu Fu, Oren Salzman, Ron Alterovitz
The inspection-planning problem calls for computing motions for a robot that allow it to inspect a set of points of interest (POIs) while considering plan quality (e.g., plan lengt…
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering
Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop +8
Steerable needles are a promising technology for delivering targeted therapies in the body in a minimally-invasive fashion, as they can curve around anatomical obstacles and hone i…