LQG-Based Planning, Sensing, and Control of Steerable Needles


This paper presents a technique for planning and controlling bevel-tip steerable needles towards a target location in 3-D anatomy under the guidance of partial, noisy sensor feedback. Our approach minimizes the probability that the needle intersects obstacles such as bones and sensitive organs by (1) explicitly taking into account motion uncertainty and… (More)
DOI: 10.1007/978-3-642-17452-0_22

5 Figures and Tables



Citations per Year

fewer than 50 Citations

Semantic Scholar estimates that this publication has 50 citations based on the available data.

See our FAQ for additional information.

  • Presentations referencing similar topics