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

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Springer Science & Business Media, Jul 23, 2008 - Technology & Engineering - 156 pages
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Written by Ron Alterovitz and Ken Goldberg, this monograph combines ideas from robotics, physically-based modeling, and operations research to develop new motion planning and optimization algorithms for image-guided medical procedures.

 

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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
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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.