Motion planning under uncertainty for image-guided medical needle steering

International Journal of Robotics Research

Volumn 27, Issue 11-12, 2008, Pages 1361-1374

  Alterovitz, Ron ^a   Branicky, Michael ^b   Goldberg, Ken ^c  

^a UNIVERSITY OF NORTH CAROLINA   (United States)

^b Case Western Reserve University   (United States)

^c UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

Dynamic programming; Image guided medical procedure; Markov decision process; Medical robotics; Motion planning; Needle steering; Uncertainty

Indexed keywords

AUTOMOBILE PARTS AND EQUIPMENT; AUTOMOBILE STEERING EQUIPMENT; DYNAMIC PROGRAMMING; IMAGE SEGMENTATION; MOTION PLANNING; PLANNING; PROBABILITY; PROBABILITY DISTRIBUTIONS; PROCESS ENGINEERING; ROBOT PROGRAMMING; SYSTEMS ENGINEERING; TABLE LOOKUP; TARGETS;

IMAGE-GUIDED MEDICAL PROCEDURE; MARKOV DECISION PROCESS; MEDICAL ROBOTICS; NEEDLE STEERING; UNCERTAINTY;

NEEDLES;

EID: 57249092195     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364908097661     Document Type: Conference Paper

References (61)

1. Agarwal, P.K., Biedl, T., Lazard, S., Robbins, S., Suri, S. and Whitesides, S. (2002). Curvature-constrained shortest paths in a convex polygon. SIAM Journal of Computing, 31 (6). 1814-1851.
2. Alagoz, O., Maillart, L.M., Schaefer, A.J. and Roberts, M. (2005). The optimal timing of living-donor liver transplantation. Management Science, 50 (10). 1420-1430.
3. Alterovitz, R., Goldberg, K. and Okamura, A.M. (2005 a). Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles. Proceedings IEEE International Conference on Robotics and Automation (ICRA), pp. 1652- 1657.
4. Alterovitz, R., Lim, A., Goldberg, K., Chirikjian, G.S. and Okamura, A.M. (2005 b). Steering flexible needles under Markov motion uncertainty. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 120-125.
5. Alterovitz, R., Pouliot, J., Taschereau, R., Hsu, I.-C. and Goldberg, K. (2003 a). Needle insertion and radioactive seed implantation in human tissues: Simulation and sensitivity analysis. Proceedings IEEE International Conference on Robotics and Automation (ICRA), Vol. 2, pp. 1793-1799.
6. Alterovitz, R., Pouliot, J., Taschereau, R., Hsu, I.-C. and Goldberg, K. (2003 b). Sensorless planning for medical needle insertion procedures. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 3, pp. 3337-3343.
7. Alterovitz, R., Pouliot, J., Taschereau, R., Hsu, I.-C. and Goldberg, K. (2003 c). Simulating needle insertion and radioactive seed implantation for prostate brachytherapy. Medicine Meets Virtual Reality, Vol. 1 1, Westwood, J. D. et al. (eds). Washington, DC, IOS Press, pp. 19-25.
8. Bakker, B., Zivkovic, Z. and Krose, B. (2005). Hierarchical dynamic programming for robot path planning. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2756-2761.
9. Barto, A., Bradtke, S. and Singh, S. (1995). Learning to act using real-time dynamic programming. Artificial Intelligence, 72 (1-2). 81-138.
10. Bemporad, A. and Morari, M. (1999). Control of systems integrating logic, dynamics and constraints. Automatica, 35 (3). 407-427.
11. Bertsekas, D.P. (2000). Dynamic Programming and Optimal Control, 2 nd edition. Belmont, MA, Athena Scientific.
12. Bicchi, A., Casalino, G. and Santilli, C. (1996). Planning shortest bounded-curvature paths for a class of nonholonomic vehicles among obstacles. Journal of Intelligent and Robotic Systems, 16: 387-405.
13. Branicky, M., Borkar, V. and Mitter, S. (1998). A unified framework for hybrid control: model and optimal control theory. IEEE Transactions on Automatic Control, 43 (1). 31-45.
14. Branicky, M., Hebbar, R. and Zhang, G. (1999). A fast marching algorithm for hybrid systems. Proceedings IEEE Conference on Decision and Control, pp. 4897-4902.
15. Chinzei, K., Hata, N., Jolesz, F.A. and Kikinis, R. (2000). MR compatible surgical assist robot: system integration and preliminary feasibility study. Proceedings of Medical Image Computing and Computer Assisted Intervention (MICCAI), pp. 921-930.
16. Choset, H., Lynch, K.M., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L.E. and Thrun, S. (2005). Principles of Robot Motion: Theory, Algorithms, and Implementations. Cambridge, MA, MIT Press.
17. Chow, C.-S. and Tsitsiklis, J. (1991). An optimal one-way multigrid algorithm for discrete-time stochastic control. IEEE Transactions on Automatic Control, 36 (8). 898-914.
18. Cleary, K., Ibanez, L., Navab, N., Stoianovici, D., Patriciu, A. and Corral, G. (2003). Segmentation of surgical needles for fluoroscopy servoing using the Insight Software Toolkit (ITK). Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 698-701.
19. Crouch, J.R., Schneider, C.M., Wainer, J. and Okamura, A.M. (2005). A velocity-dependent model for needle insertion in soft tissue. Proceedings of the 8th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), pp. 624-632.
20. Dean, T., Kaelbling, L.P., Kirman, J. and Nicholson, A. (1995). Planning under time constraints in stochastic domains. Artificial Intelligence, 76 (1-2). 35-74.
21. DiMaio, S.P., Kacher, D.F., Ellis, R.E., Fichtinger, G., Hata, N., Zientara, G.P., Panych, L.P., Kikinis, R. and Jolesz, F.A. (2006 a). Needle artifact localization in 3T MR images. Medicine Meets Virtual Reality 14, Westwood, J. D. et al. (eds). Washington, DC, IOS Press, pp. 120-125.
22. DiMaio, S.P., Pieper, S., Chinzei, K., Hata, N., Balogh, E., Fichtinger, G., Tempany, C.M. and Kikinis, R. (2006 b). Robot-assisted needle placement in open-MRI: system architecture, integration and validation. Medicine Meets Virtual Reality 14, Westwood, J. D. et al. (eds). Washington, DC, IOS Press, pp. 126-131.
23. DiMaio, S.P. and Salcudean, S.E. (2003 a). Needle insertion modelling and simulation. IEEE Transactions on Robotics and Automation, 19 (5). 864-875.
24. DiMaio, S.P. and Salcudean, S.E. (2003 b). Needle steering and model-based trajectory planning. Proceedings of the International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), pp. 33-40.
25. Dubins, L.E. (1957). On curves of minimal length with a constraint on average curvature and with prescribed initial and terminal positions and tangents. American Journal of Mathematics, 79 (3). 497-516.
26. Ferguson, D. and Stentz, A. (2004). Focussed processing of MDPs for path planning. Proceedings IEEE International Conference on Tools with Artificial Intelligence (ICTAI), pp. 310-317.
27. Fichtinger, G., DeWeese, T.L., Patriciu, A., Tanacs, A., Mazilu, D., Anderson, J.H., Masamune, K., Taylor, R.H. and Stoianovici, D. (2002). System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance. Academic Radiology, 9 (1). 60-74.
28. Glozman, D. and Shoham, M. (2007). Image-guided robotic flexible needle steering. IEEE Transactions on Robotics, 23 (3). 459-467.
29. Hansen, E.A. and Zilberstein, S. (2001). LAO*: a heuristic search algorithm that finds solutions with loops. Artificial Intelligence, 129 (1). 35-62.
30. Hata, N., Hashimoto, R., Tokuda, J. and Morikawa, S. (2005). Needle guiding robot for MR-guided microwave thermotherapy of liver tumor using motorized remote-center-of-motion constraint. Proceedings IEEE International Conference on Robotics and Automation (ICRA), pp. 1652- 1656.
31. Heverly, M., Dupont, P. and Triedman, J. (2005). Trajectory optimization for dynamic needle insertion. Proceedings IEEE International Conference on Robotics and Automation (ICRA), pp. 1646-1651.
32. Hing, J.T., Brooks, A.D. and Desai, J.P. (2007). A biplanar fluoroscopic approach for the measurement, modeling, and simulation of needle and soft-tissue interaction. Medical Image Analysis, 11 (1). 62-78.
33. Howe, R.D. and Matsuoka, Y. (1999). Robotics for surgery. Annual Review of Biomedical Engineering, 1: 211-240.
34. Jacobs, P. and Canny, J. (1989). Planning smooth paths for mobile robots. Proceedings IEEE International Conference on Robotics and Automation (ICRA), pp. 2-7.
35. Kallem, V. and Cowan, N.J. (2007). Image-guided control of flexible bevel-tip needles. Proceedings IEEE International Conference on Robotics and Automation (ICRA), pp. 3015- 3020.
36. Kataoka, H., Washio, T., Chinzei, K., Mizuhara, K., Simone, C. and Okamura, A. (2002). Measurement of tip and friction force acting on a needle during penetration. Proceedings of the International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), pp. 216-223.
37. Kobayashi, Y., Okamoto, J. and Fujie, M. (2005). Physical properties of the liver and the development of an intelligent manipulator for needle insertion. Proceedings IEEE International Conference on Robotics and Automation (ICRA), pp. 1632-1639.
38. Kreke, J., Schaefer, A.J., Roberts, M. and Bailey, M. (2005). Optimizing testing and discharge decisions in the management of severe sepsis. Proceedings of the Annual Meeting of INFORMS.
39. Latombe, J.-C. (1991). Robot Motion Planning. Norwell, MA, Kluwer Academic.
40. Latombe, J.-C. (1999). Motion planning: a journey of robots, molecules, digital actors, and other artifacts. The International Journal of Robotics Research, 18 (11). 1119-1128.
41. Laumond, J.-P., Jacobs, P.E., Täx, M. and Murray, R.M. (1994). A motion planner for nonholonomic mobile robots. IEEE Transactions on Robotics and Automation, 10 (5). 577-593.
42. LaValle, S.M. (2006). Planning Algorithms. Cambridge, Cambridge University Press.
43. LaValle, S.M. and Hutchinson, S.A. (1998). An objective-based framework for motion planning under sensing and control uncertainties. Thre International Journal of Robotics Research, 17 (1). 19-42.
44. Masamune, K., Ji, L., Suzuki, M., Dohi, T., Iseki, H. and Takakura, K. (1998). A newly developed stereotactic robot with detachable drive for neurosurgery. Proceedings of the International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), pp. 215- 222.
45. Maurin, B., Doignon, C., Gangloff, J., Bayle, B., de Mathelin, M., Piccin, O. and Gangi, A. (2005). CT-Bot: A stereotactic-guided robotic assistant for percutaneous procedures of the abdomen. Proceedings of SPIE Medical Imaging 2005, pp. 241-250.
46. Moore, A.W. and Atkeson, C.G. (1993). Prioritized sweeping: reinforcement learning with less data and less real time. Machine Learning, 13 (1). 103-130.
47. Moore, A.W. and Atkeson, C.G. (1995). The parti-game algorithm for variable resolution reinforcement learning in multidimensional state spaces. Machine Learning, 21 (3). 199-233.
48. Okamura, A.M., Simone, C. and O'Leary, M.D. (2004). Force modeling for needle insertion into soft tissue. IEEE Transactions on Biomedical Engineering, 51 (10). 1707-1716.
49. Okazawa, S., Ebrahimi, R., Chuang, J., Salcudean, S.E. and Rohling, R. (2005). Hand-held steerable needle device. IEEE/ASME Transactions on Mechatronics, 10 (3). 285-296.
50. Park, W., Kim, J.S., Zhou, Y., Cowan, N.J., Okamura, A.M. and Chirikjian, G.S. (2005). Diffusion-based motion planning for a nonholonomic flexible needle model. Proceedings IEEE International Conference on Robotics and Automation (ICRA), pp. 4611-4616.
51. Schneider, C., Okamura, A.M. and Fichtinger, G. (2004). A robotic system for transrectal needle insertion into the prostate with integrated ultrasound. Proceedings IEEE International Conference on Robotics and Automation (ICRA), pp. 2085-2091.
52. Sellen, J. (1998). Approximation and decision algorithms for curvature-constrained path planning: A state-space approach. Robotics: The Algorithmic Perspective: 1998 WAFR, Agarwal, P. K., Kavraki, L. E. and Mason, M. T. (eds). Natick, MA, AK Peters, pp. 59-67.
53. Shechter, S., Schaefer, A.J., Braithwaite, S., Roberts, M. and Bailey, M. (2005). The optimal time to initiate HIV therapy. Proceedings of the Annual Meeting of INFORMS.
54. Simone, C. and Okamura, A.M. (2002). Modeling of needle insertion forces for robot-assisted percutaneous therapy. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2085-2091.
55. Taylor, R.H. and Stoianovici, D. (2003). Medical robotics in computer-integrated surgery. IEEE Transactions on Robotics and Automation, 19 (5). 765-781.
56. Webster, R.J. III, Kim, J.S., Cowan, N.J., Chirikjian, G.S. and Okamura, A.M. (2006 a). Nonholonomic modeling of needle steering. The International Journal of Robotics Research, 25 (5-6). 509-525.
57. Webster, R.J. III, Memisevic, J. and Okamura, A.M. (2005 a). Design considerations for robotic needle steering. Proceedings IEEE International Conference on Robotics and Automation (ICRA), pp. 3599-3605.
58. Webster, R.J. III, Okamura, A.M. and Cowan, N.J. (2006 b). Toward active cannulas: miniature snake-like surgical robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2857- 2863.
59. Webster, R.J. III, Okamura, A.M., Cowan, N.J., Chirikjian, G.S., Goldberg, K. and Alterovitz, R. (2005 b). Distal bevel-tip needle control device and algorithm. US Patent Application Number 11 / 436, 995.
60. Zhou, Y. and Chirikjian, G.S. (2003). Probabilistic models of dead-reckoning error in nonholonomic mobile robots. Proceedings IEEE International Conference on Robotics and Automation (ICRA), pp. 1594-1599.
61. Zhou, Y. and Chirikjian, G.S. (2004). Planning for noise-induced trajectory bias in nonholonomic robots with uncertainty. Proceedings IEEE International Conference on Robotics and Automation (ICRA), pp. 4596-4601.