Parallel moduli space sampling: Robust and fast surgery planning for image guided steerable needles


Steerable needles can improve many medical procedures through their ability to reach targets behind critical or impenetrable anatomical structures, such as blood vessels and bones. However, path planning in real-time is challenging due to complicated kinodynamic constraints and tissue deformation. This paper introduces a parallel path planning algorithm… (More)
DOI: 10.1109/ROBIO.2015.7418838


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