ArticleRobotics science and systems : online proceedings2021
Toward Certifiable Motion Planning for Medical Steerable Needles.
Article in Robotics science and systems : online proceedings, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
What it found
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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.
The trial behind it
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
6 citing papers in PubMed.
- 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
- 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
- Insights into Infusion-Based Targeted Drug Delivery in the Brain: Perspectives, Challenges and Opportunities.International journal of molecular sciences · 2022Review
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
3 authors.
Funding
Abstract
Medical steerable needles can move along 3D curvilinear trajectories to avoid anatomical obstacles and reach clinically significant targets inside the human body. Automating steerable needle procedures can enable physicians and patients to harness the full potential of steerable needles by maximally leveraging their steerability to safely and accurately reach targets for medical procedures such as biopsies and localized therapy delivery for cancer. For the automation of medical procedures to be clinically accepted, it is critical from a patient care, safety, and regulatory perspective to certify the correctness and effectiveness of the motion planning algorithms involved in procedure automation. In this paper, we take an important step toward creating a certifiable motion planner for steerable needles. We introduce the first motion planner for steerable needles that offers a guarantee, under clinically appropriate assumptions, that it will, in finite time, compute an exact, obstacle-avoiding motion plan to a specified target, or notify the user that no such plan exists. We present an efficient, resolution-complete motion planner for steerable needles based on a novel adaptation of multi-resolution planning. Compared to state-of-the-art steerable needle motion planners (none of which provide any completeness guarantees), we demonstrate that our new resolution-complete motion planner computes plans faster and with a higher success rate.
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.