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

• Main Authors: Alterovitz, Ron (Author), Goldberg, Ken (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2008.
• Series: Springer Tracts in Advanced Robotics, 50
• Subjects: Engineering.; Artificial intelligence.; Computer graphics.; System theory.; Control engineering.; Robotics.; Mechatronics.; Biomedical engineering.; Control.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).; Systems Theory, Control.; Biomedical Engineering.; Computer Imaging, Vision, Pattern Recognition and Graphics.

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 ca...

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 Stochastic Motion Roadmap: A Sampling-Based Framework for Planning with Motion Uncertainty
• Motion Planning for Radiation Sources during High-Dose-Rate Brachytherapy
• Conclusion.