NDLI: Diffusion-Based Motion Planning for a Nonholonomic Flexible Needle Model

Content Provider	IEEE Xplore Digital Library
Author	Wooram Park Jin Seob Kim Yu Zhou Cowan, N.J. Okamura, A.M. Chirikjian, G.S.
Copyright Year	2005
Description	Author affiliation: Department of Mechanical Engineering Johns Hopkins University Baltimore, MD 21218, wpark7@jhu.edu (Wooram Park)
Abstract	Fine needles facilitate diagnosis and therapy because they enable minimally invasive surgical interventions. This paper formulates the problem of steering a very flexible needle through firm tissue as a nonholonomic kinematics problem, and demonstrates how planning can be accomplished using diffusion-based motion planning on the Euclidean group, SE(3). In the present formulation, the tissue is treated as isotropic and no obstacles are present. The bevel tip of the needle is treated as a nonholonomic constraint that can be viewed as a 3D extension of the standard kinematic cart or unicycle. A deterministic model is used as the starting point, and reachability criteria are established. A stochastic differential equation and its corresponding Fokker-Planck equation are derived. The Euler-Maruyama method is used to generate the ensemble of reachable states of the needle tip. Inverse kinematics methods developed previously for hyper-redundant and binary manipulators that use this probability density information are applied to generate needle tip paths that reach the desired targets.
Starting Page	4600
Ending Page	4605
File Size	360732
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570829
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Needles Medical treatment Minimally invasive surgery Differential equations Manipulators Biomedical imaging Medical diagnostic imaging Robot kinematics Ultrasonic imaging Motion planning medical robotics needle steering nonholonomic path planning probability density function Euler-Maruyama method
Content Type	Text
Resource Type	Article

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