Overview
- Combines ideas from robotics, physically-based modeling, and operations research to develop new motion planning and optimization algorithms for image-guided medical procedures
Part of the book series: Springer Tracts in Advanced Robotics (STAR)
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About this book
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 caused by soft tissue deformations that occur when imaging devices or surgical tools physically contact soft tissue. A number of methods are presented which can be applied to a variety of medical procedures, from biopsies to anaesthesia injections to radiation cancer treatment. They can also be extended to address problems outside the context of medical robotics, including nonholonomic motion planning for mobile robots in field or manufacturing environments.
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Keywords
Table of contents (8 chapters)
Reviews
From the reviews:
“This monograph is intended for researchers interested in medical robotics where images are used to guide a surgical device around anatomical obstacles to reach a clinical target or attain a clinical goal. Three key algorithmic problems are addressed, compensation for deformations that may occur when surgical devices contact soft tissue, uncertainty in the response of surgical devices to command actions, and path optimization to achieve the specific goal while minimizing negative side effects.” (IEEE Control Systems Magazine, Vol. 30, April, 2010)
Bibliographic Information
Book Title: Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures
Authors: Ron Alterovitz, Ken Goldberg
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-540-69259-1
Publisher: Springer Berlin, Heidelberg
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag Berlin Heidelberg 2008
Hardcover ISBN: 978-3-540-69257-7Due: 23 July 2008
Softcover ISBN: 978-3-642-08874-2Published: 22 October 2010
eBook ISBN: 978-3-540-69259-1Published: 20 September 2008
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XVI, 156
Number of Illustrations: 55 b/w illustrations
Topics: Control and Systems Theory, Control, Robotics, Mechatronics, Artificial Intelligence, Systems Theory, Control, Biomedical Engineering and Bioengineering, Computer Imaging, Vision, Pattern Recognition and Graphics