Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures (Google eBook)

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Springer Science & Business Media, Aug 27, 2008 - Computers - 153 pages
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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.
  

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Contents

Introduction
1
PhysicallyBased Simulations of Soft Tissue Deformations
11
Motion Planning in Deformable Soft Tissue with Appplications to Needle Insertion
26
Motion Planning in Deformable Soft Tissue with Obstacles with Applications to Needle Steering
45
Motion Planning for CurvatureConstrained Mobile Robots with Applications to Needle Steering
57
A Sampling Based Framework for Planning with Motion Uncertanity
75
Motion Planning for Radiation Soureces during HighDoseRate Brachytheraphy
90
Conclusion
107
References
115
Target Localization Using Deformble Image Registration
129
Index
148
Copyright

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About the author (2008)

Ken Goldberg is Associate Professor of Industrial Engineering and founder of the Art, Technology, and Culture Colloquium at the University of California, Berkeley. His Net art installations include "Dislocation of Intimacy," "Memento Mori," and "The Telegarden.

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