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

丛 书 名：Springer Tracts in Advanced Robotics

版本说明：2008

作     者：Ron Alterovitz Ken Goldberg 

I S B N：(纸本) 9783540692577 

出 版 社：Springer Berlin Heidelberg 

出 版 年：2008年

学科分类：080202[工学-机械电子工程] 08[工学] 080203[工学-机械设计及理论] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

摘      要：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, includingnonholonomic motion planning for mobile robots in field or manufacturing environments.