28 citations · 143 across the 25 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…
Safer Motion Planning of Steerable Needles via a Shaft-to-Tissue Force Model
Michael Bentley, Caleb Rucker, Chakravarthy Reddy +2
Steerable needles are capable of accurately targeting difficult-to-reach clinical sites in the body. By bending around sensitive anatomical structures, steerable needles have the p…