3D non-holonomic maneuver planning for bronchoscopes and endoscopes

被引：0
|
作者：
Trovato, K. [1 ]
Summers-Stay, D. [1 ]
机构：
[1] Philips Res USA, Briarcliff Manor, NY 10510 USA
来源：
INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY | 2007年 / 2卷
关键词：
Path planning; Non-holonomic; Configuration space; Endoscope; Bronchoscope;
D O I：
暂无
中图分类号：
R318 [生物医学工程];
学科分类号：
0831 ;
摘要：
Maneuvering a bronchoscope or endoscope requires coordinated steering of the scope's tip as it is advanced into the patient. A method is presented to calculate the path and control settings required for a given scope to reach from the entry to the target based on a segmented CT image. A technique is also introduced for representing the six dimensional search space using only three dimensions. This enables a tractable solution that is computed in less than 1 min.
引用
收藏
页码：S212 / S213
页数：2
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