Title :
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
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;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-61284-454-1
DOI :
10.1109/IROS.2011.6094594
