ArticleProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
Motion Planning for a Three-Stage Multilumen Transoral Lung Access System.
Article in Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 16 papers.
What it found
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Who cites it
16 citing papers in PubMed.
- Safe Start Regions for Medical Steerable Needle Automation.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2025Article
- Autonomous medical needle steering in vivo.Science robotics · 2023Article
- Toward certifiable optimal motion planning for medical steerable needles.The International journal of robotics research · 2023Article
- Navigation with minimal occupation volume for teleoperated snake-like surgical robots: MOVE.Frontiers in robotics and AI · 2023Article
- A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2022Article
- Resolution-Optimal Motion Planning for Steerable Needles.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2022Article
- Toward Certifiable Motion Planning for Medical Steerable Needles.Robotics science and systems : online proceedings · 2021Article
- Backward Planning for a Multi-Stage Steerable Needle Lung Robot.IEEE robotics and automation letters · 2021Article
- STEERABLE NEEDLE TRAJECTORY FOLLOWING IN THE LUNG: TORSIONAL DEADBAND COMPENSATION AND FULL POSE ESTIMATION WITH 5DOF FEEDBACK FOR NEEDLES PASSING THROUGH FLEXIBLE ENDOSCOPES.Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference · 2020Article
- A statistical weighted sparse-based local lung motion modelling approach for model-driven lung biopsy.International journal of computer assisted radiology and surgery · 2020Article
- Decoupling Steerability from Diameter: Helical Dovetail Laser Patterning for Steerable Needles.IEEE access : practical innovations, open solutions · 2020Article
- Design optimization of a contact-aided continuum robot for endobronchial interventions based on anatomical constraints.International journal of computer assisted radiology and surgery · 2019Article
- Design and Control of a Compact, Modular Robot for Transbronchial Lung Biopsy.Proceedings of SPIE--the International Society for Optical Engineering · 2019Article
- Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2018Article
- BEM-based simulation of lung respiratory deformation for CT-guided biopsy.International journal of computer assisted radiology and surgery · 2017Article
- Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and AutomationArticle
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
Lung cancer is the leading cause of cancer-related death, and early-stage diagnosis is critical to survival. Biopsy is typically required for a definitive diagnosis, but current low-risk clinical options for lung biopsy cannot access all biopsy sites. We introduce a motion planner for a multilumen transoral lung access system, a new system that has the potential to perform safe biopsies anywhere in the lung, which could enable more effective early-stage diagnosis of lung cancer. The system consists of three stages in which a bronchoscope is deployed transorally to the lung, a concentric tube robot pierces through the bronchial tubes into the lung parenchyma, and a steerable needle deploys through a properly oriented concentric tube and steers through the lung parenchyma to the target site while avoiding anatomical obstacles such as significant blood vessels. A sampling-based motion planner computes actions for each stage of the system and considers the coupling of the stages in an efficient manner. We demonstrate the motion planner's fast performance and ability to compute plans with high clearance from obstacles in simulated anatomical scenarios.
Identifiers
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.