This paper presents an adaptive approach for
2D motion planning of steerable needles. It combines duty-
cycled rotation of the needle with the classic Rapidly-Exploring
Random Tree (RRT) algorithm to obtain fast calculation of
feasible trajectories. The motion planning is used intraopera-
tively at each cycle to compensate for system uncertainties and
perturbations. Simulation results demonstrate the performance
of the proposed motion planner on a workspace based on
ultrasound images.
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