Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures / Edition 1

Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures / Edition 1

by Ron Alterovitz, Ken Goldberg
     
 

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ISBN-10: 3642088740

ISBN-13: 9783642088742

Pub. Date: 12/15/2010

Publisher: Springer Berlin Heidelberg

The monograph written by Ron Alterovitz and Ken Goldberg combines ideas from robotics, physically-based modeling, and operations research to develop new motion planning and optimization algorithms for image-guided medical procedures. A challenge clinicians commonly face is compensating for errors caused by soft tissue deformations that occur when imaging devices or

Overview

The monograph written by Ron Alterovitz and Ken Goldberg combines ideas from robotics, physically-based modeling, and operations research to develop new motion planning and optimization algorithms for image-guided medical procedures. A challenge clinicians commonly face is compensating for errors caused by soft tissue deformations that occur when imaging devices or surgical tools physically contact soft tissue. A number of methods are presented which can be applied to a variety of medical procedures, from biopsies to anaesthesia injections to radiation cancer treatment. They can also be extended to address problems outside the context of medical robotics, including nonholonomic motion planning for mobile robots in field or manufacturing environments.

Product Details

ISBN-13:
9783642088742
Publisher:
Springer Berlin Heidelberg
Publication date:
12/15/2010
Series:
Springer Tracts in Advanced Robotics Series, #50
Edition description:
Softcover reprint of hardcover 1st ed. 2008
Pages:
156
Product dimensions:
0.37(w) x 6.14(h) x 9.21(d)

Table of Contents

Physically-Based Simulation of Soft Tissue Deformations.- Motion Planning in Deformable Soft Tissue with Applications to Needle Insertion.- Motion Planning in Deformable Soft Tissue with Obstacles with Applications to Needle Steering.- Motion Planning for Curvature-Constrained Mobile Robots with Applications to Needle Steering.- The Shastic Motion Roadmap: A Sampling-Based Framework for Planning with Motion Uncertainty.- Motion Planning for Radiation Sources during High-Dose-Rate Brachytherapy.- Conclusion.

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