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Adaptive Path Planning for Steerable Needles Using Duty-Cycling

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.
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Submitted on : Wednesday, November 16, 2011 - 5:20:10 PM
Last modification on : Monday, October 11, 2021 - 1:24:11 PM
Long-term archiving on: : Friday, November 16, 2012 - 11:05:22 AM


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Mariana Costa Bernardes, Bruno Vilhena Adorno, Philippe Poignet, Nabil Zemiti, Geovany A. Borges. Adaptive Path Planning for Steerable Needles Using Duty-Cycling. IROS: Intelligent RObots and Systems, Sep 2011, San Francisco, CA, United States. pp.2545-2550, ⟨10.1109/IROS.2011.6048259⟩. ⟨lirmm-00641824⟩



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