Resolution-Optimal Motion Planning for Steerable Needles
Mengyu Fu,Kiril Solovey,Oren Salzman,Ron Alterovitz,Mengyu Fu,Kiril Solovey,Oren Salzman,Ron Alterovitz
Medical steerable needles can follow 3D curvilinear trajectories inside body tissue, enabling them to move around critical anatomical structures and precisely reach clinically significant targets in a minimally invasive way. Automating needle steering, with motion planning as a key component, has the potential to maximize the accuracy, precision, speed, and safety of steerable needle procedures. I...
