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Springer Tracts in Advanced Robotics

Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures

Authors: Alterovitz, Ron, Goldberg, Ken

  • Combines ideas from robotics, physically-based modeling, and operations research to develop new motion planning and optimization algorithms for image-guided medical procedures  

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eBook $129.00
price for USA (gross)
  • ISBN 978-3-540-69259-1
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $169.00
price for USA
  • ISBN 978-3-540-69257-7
  • Free shipping for individuals worldwide
  • This title is currently reprinting. You can pre-order your copy now.
Softcover $169.00
price for USA
  • ISBN 978-3-642-08874-2
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
About this book

The monograph written by Ron Alterovitz and Ken Goldberg combines ideas from robotics, physically-based modeling, and operations research to develop new motion planning and optimization algorithms for image-guided medical procedures. A challenge clinicians commonly face is compensating for errors caused by soft tissue deformations that occur when imaging devices or surgical tools physically contact soft tissue. A number of methods are presented which can be applied to a variety of medical procedures, from biopsies to anaesthesia injections to radiation cancer treatment. They can also be extended to address problems outside the context of medical robotics, including nonholonomic motion planning for mobile robots in field or manufacturing environments. 

Reviews

From the reviews:

“This monograph is intended for researchers interested in medical robotics where images are used to guide a surgical device around anatomical obstacles to reach a clinical target or attain a clinical goal. Three key algorithmic problems are addressed, compensation for deformations that may occur when surgical devices contact soft tissue, uncertainty in the response of surgical devices to command actions, and path optimization to achieve the specific goal while minimizing negative side effects.” (IEEE Control Systems Magazine, Vol. 30, April, 2010)


Table of contents (8 chapters)

  • Introduction

    Alterovitz, Ron (et al.)

    Pages 1-10

  • Physically-Based Simulation of Soft Tissue Deformations

    Alterovitz, Ron (et al.)

    Pages 11-25

  • Motion Planning in Deformable Soft Tissue with Applications to Needle Insertion

    Alterovitz, Ron (et al.)

    Pages 27-44

  • Motion Planning in Deformable Soft Tissue with Obstacles with Applications to Needle Steering

    Alterovitz, Ron (et al.)

    Pages 45-55

  • Motion Planning for Curvature-Constrained Mobile Robots with Applications to Needle Steering

    Alterovitz, Ron (et al.)

    Pages 57-74

Buy this book

eBook $129.00
price for USA (gross)
  • ISBN 978-3-540-69259-1
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $169.00
price for USA
  • ISBN 978-3-540-69257-7
  • Free shipping for individuals worldwide
  • This title is currently reprinting. You can pre-order your copy now.
Softcover $169.00
price for USA
  • ISBN 978-3-642-08874-2
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
50
Copyright
2008
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-540-69259-1
DOI
10.1007/978-3-540-69259-1
Hardcover ISBN
978-3-540-69257-7
Softcover ISBN
978-3-642-08874-2
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XVI, 156
Number of Illustrations and Tables
55 b/w illustrations
Topics