ArticleProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems2018
Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images.
Article in Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 12 papers.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
12 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
- Planning of Medical Flexible Needle Motion in Effective Area of Clinical Puncture.Sensors (Basel, Switzerland) · 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
- Decoupling Steerability from Diameter: Helical Dovetail Laser Patterning for Steerable Needles.IEEE access : practical innovations, open solutions · 2020Article
- 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
4 authors.
Funding
Abstract
Lung cancer is the deadliest form of cancer, and early diagnosis is critical to favorable survival rates. Definitive diagnosis of lung cancer typically requires needle biopsy. Common lung nodule biopsy approaches either carry significant risk or are incapable of accessing large regions of the lung, such as in the periphery. Deploying a steerable needle from a bronchoscope and steering through the lung allows for safe biopsy while improving the accessibility of lung nodules in the lung periphery. In this work, we present a method for extracting a cost map automatically from pulmonary CT images, and utilizing the cost map to efficiently plan safe motions for a steerable needle through the lung. The cost map encodes obstacles that should be avoided, such as the lung pleura, bronchial tubes, and large blood vessels, and additionally formulates a cost for the rest of the lung which corresponds to an approximate likelihood that a blood vessel exists at each location in the anatomy. We then present a motion planning approach that utilizes the cost map to generate paths that minimize accumulated cost while safely reaching a goal location in the lung.
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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.