Three-dimensional motion planning algorithms for steerable needles using inverse kinematics

International Journal of Robotics Research

Volumn 29, Issue 7, 2010, Pages 789-800

  Duindam, Vincent ^a   Xu, Jijie ^b   Alterovitz, Ron ^c   Sastry, Shankar ^a   Goldberg, Ken ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b ROCHESTER INSTITUTE OF TECHNOLOGY   (United States)

^c University of North Carolina   (United States)

Author keywords

Inverse kinematics; Medical robotics and systems; Motion planning; Steerable needles

Indexed keywords

COMPETITIVITY; CONSTANT SPEED; INVERSE KINEMATICS SOLUTIONS; MEDICAL ROBOTICS; MEDICAL ROBOTICS AND SYSTEMS; MOTION PLANNING ALGORITHMS; NONHOLONOMICS; NUMERICAL SIMULATION; PITCH RATE; RADIUS OF CURVATURE; REACHABILITY; ROLL ANGLE; SHORTEST PATH; STEERABLE NEEDLES; SUB-PROBLEMS; THREE DIMENSIONS; THREE-DIMENSIONAL MOTION; TWO-DIMENSION;

ALGORITHMS; BIOLOGICAL ORGANS; COMPUTER SIMULATION; INVERSE KINEMATICS; MEDICAL APPLICATIONS; MOTION PLANNING; NAVIGATION; NEEDLES; ROBOTICS;

ROBOT PROGRAMMING;

EID: 77952937692     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364909352202     Document Type: Article

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