LQG-Based Planning, Sensing, and Control of Steerable Needles

Berg, Jur van den; Patil, Sachin; Alterovitz, Ron; Abbeel, Pieter; Goldberg, Ken

doi:10.1007/978-3-642-17452-0_22

Cited by 41 publications

(34 citation statements)

References 24 publications

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“…They approximate the a priori covariances with the a posteriori covariances of the most likely run of the robot. Similar to our approach, van den Berg et al [4] evaluate sensor positions using the exact a priori distributions in a linearized system. As they focus mainly on path planning, they restrict themselves to randomly sampled positions of a single sensor.…”

Section: Related Workmentioning

confidence: 99%

Effective landmark placement for accurate and reliable mobile robot navigation

Beinhofer

Müller

Burgard

2013

Robotics and Autonomous Systems

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Being able to navigate accurately is one of the fundamental capabilities of a mobile robot to effectively execute a variety of tasks including docking, transportation, and manipulation. As real-world environments often contain changing or ambiguous areas, existing features can be insufficient for mobile robots to establish a robust navigation behavior. A popular approach to overcome this problem and to achieve accurate localization is to use artificial landmarks. In this paper, we consider the problem of optimally placing such artificial landmarks for mobile robots that repeatedly have to carry out certain navigation tasks. Our method aims at finding the minimum number of landmarks for which a bound on the maximum deviation of the robot from its desired trajectory can be guaranteed with high confidence. The proposed approach incrementally places landmarks utilizing linearized versions of the system dynamics of the robot, thus allowing for an efficient computation of the deviation guarantee. We evaluate our approach in extensive experiments carried out both in simulation and with real robots. The experiments demonstrate that our method outperforms other approaches and is suitable for long-term operation of mobile robots.

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Section: Related Workmentioning

confidence: 99%

Effective landmark placement for accurate and reliable mobile robot navigation

Beinhofer

Müller

Burgard

2013

Robotics and Autonomous Systems

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“…In contrast to active needle steering using bevel-tips or cannuli [25], [26], [27], [28], [29], [30], [31], this study explores how a symmetric (diamond-tip) needle can be steered to a desired configuration within tissue by precisely positioning and orienting its primary axis outside the body.…”

Section: Background and Related Workmentioning

confidence: 99%

Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy

Garg

Siauw

Berenson

et al. 2013

IEEE Trans. Automat. Sci. Eng.

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Abstract-We present a study in human-centered automation that has potential to reduce patient side effects from high dose rate brachytherapy (HDR-BT). To efficiently deliver radiation to the prostate while minimizing trauma to sensitive structures such as the penile bulb, we modified the Acubot-RND 7-axis robot to guide insertion of diamond-tip needles into desired skew-line geometric arrangements. We extend and integrate two algorithms: Needle Planning with Integer Programming (NPIP) and Inverse Planning with Integer Programming (IPIP) to compute skew-line needle and dose plans. We performed three physical experiments with anatomically-correct phantom models to study performance: two with the robot and one control experiment with an expert human physician (co-author Hsu) without the robot. All were able to achieve needle arrangements that meet the RTOG-0321 clinical dose objectives with zero trauma to the penile bulb. We analyze systematic and random errors in needle placement; total RMS error for the robot system operating without feedback ranged from 2.6 mm to 4.3 mm, which is comparable to the RMS error of 2.7 mm obtained in an earlier study for PPI-BT treatment using a robot with 3D ultrasound feedback.Note to Practitioners Brachytherapy treats cancer by delivering radioactive sources proximal to cancer sites via needles. Current methods use standardized fixed mechanical templates that force needles into parallel arrangements that may prevent needles from reaching prostate volumes blocked by the pubic arch and often require needles to puncture sensitive organs. Skew-line (non-parallel) arrangements of needles can reach targets under the pubic arch and avoid sensitive organs. However these arrangements cannot be achieved with standard templates, motivating the use of automation. We present a human-centered automation system that integrates state-of-the- Left: The current clinical approach to prostate high dose rate brachytherapy (HDR-BT) uses parallel needles guided by a mechanical template. This approach may prevent needles from reaching prostate volumes blocked by the pubic arch and often require needles to puncture sensitive organs (which can produce long-term side-effects). Right: Skew-line needle arrangements facilitated by robot guidance can avoid puncture by reaching under the pubic arch and can minimize trauma to sensitive organs such as the penile bulb which can produce side effects such as incontinence and impotence.art needle and dose planning algorithms with a modified needle insertion robot. Results suggest that the robot can achieve precision and accuracy comparable to that of expert human physician. This approach has applications to brachytherapy treatment for other organs and to other needle procedures such as biopsy and anesthetic injection.

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“…Optimization-based planning has been used for sti, symmetric-tip needles in 2D [19] and 3D [20]. Planners have also been developed to maneuver flexible, bevel-tip steerable needles around obstacles in 2D soft tissue [21]- [26]. However, needles can be approximated as a point robot (i.e.…”

Section: Related Workmentioning

confidence: 99%

“…The effect of uncertainty has been well-studied for bevel-tip steerable needles [22], [23], [26]. The planners described above, however, cannot be directly applied to the case of concentric tube robots.…”

Section: Related Workmentioning

confidence: 99%

“…The Stochastic Motion Roadmap presented in [22] assumes a discrete set of possible actions at any given robot state, which is not necessarily true when planning for concentric tube robots. The LQG-based method used in [26] introduces an estimation of the probability of collision during plan execution, but assumes that the robot's tip acts independently of the rest of the shaft. Although we cannot directly use these planners, our goal is to maximize the same metric: the probability of successfully reaching the target while avoiding obstacles.…”

Section: Related Workmentioning

confidence: 99%

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Motion planning for concentric tube robots using mechanics-based models

Торрес¹,

Alterovitz²

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Concentric tube robots have the potential to enable new minimally invasive surgical procedures by curving around anatomical obstacles to reach difficult-to-reach sites in body cavities. Planning motions for these devices is challenging in part due to their complex kinematics; concentric tube robots are composed of thin, pre-curved, telescoping tubes that can achieve a variety of shapes via extension and rotation of each of their constituent tubes. We introduce a new motion planner to maneuver these devices to clinical targets while minimizing the probability of colliding with anatomical obstacles. Unlike prior planners for these devices, we more accurately model device shape using mechanics-based models that consider torsional interaction between the tubes. We also account for the effects of uncertainty in actuation and predicted device shape. We integrate these models with a sampling-based approach based on the Rapidly-Exploring Roadmap to guarantee finding optimal plans as computation time is allowed to increase. We demonstrate our motion planner in simulation using a variety of evaluation scenarios including an anatomy-based neurosurgery case that requires maneuvering to a difficult-to-reach brain tumor at the skull base.

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LQG-Based Planning, Sensing, and Control of Steerable Needles

Cited by 41 publications

References 24 publications

Effective landmark placement for accurate and reliable mobile robot navigation

Effective landmark placement for accurate and reliable mobile robot navigation

Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy

Motion planning for concentric tube robots using mechanics-based models

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