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

@article{Liu2015ParallelMS,
  title={Parallel moduli space sampling: Robust and fast surgery planning for image guided steerable needles},
  author={Fangde Liu and Joshua G. Petersen and Ferdinando Rodriguez y Baena},
  journal={2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
  year={2015},
  pages={626-631}
}
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 that finds paths that avoid complex obstacles in real-time. This algorithm is based on moduli space planning algorithm. It transforms non… CONTINUE READING