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Pubmed for Handhelds

PUBMED FOR HANDHELDS

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  • Title: The Path-of-Probability Algorithm for Steering and Feedback Control of Flexible Needles.
    Author: Park W, Wang Y, Chirikjian GS.
    Journal: Int J Rob Res; 2010 Jun 01; 29(7):813-830. PubMed ID: 21151708.
    Abstract:
    In this paper we develop a new framework for path planning of flexible needles with bevel tips. Based on a stochastic model of needle steering, the probability density function for the needle tip pose is approximated as a Gaussian. The means and covariances are estimated using an error propagation algorithm which has second order accuracy. Then we adapt the path-of-probability (POP) algorithm to path planning of flexible needles with bevel tips. We demonstrate how our planning algorithm can be used for feedback control of flexible needles. We also derive a closed-form solution for the port placement problem for finding good insertion locations for flexible needles in the case when there are no obstacles. Furthermore, we propose a new method using reference splines with the POP algorithm to solve the path planning problem for flexible needles in more general cases that include obstacles.
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