Generalized Trajectory Planning for Nonlinear Interventions

Johannes Fauser, Igor Stenin, Julia Kristin, Thomas Universitätsklinikum Düsseldorf Klenzner, Jörg Universitätsklinikum Düsseldorf Schipper, Dieter Fellner, Anirban Mukhopadhyay

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandForschungBegutachtung

Abstract

Minimally invasive procedures with flexible instruments suchas endoscopes, needles or drilling units are becoming more and more common.Their automated insertion will be standard across several applicationsin operation rooms of the future. In such scenarios regular replanningfor feasible nonlinear trajectories is a mandatory step towardautomation. However, state of the art methods focus on isolated solutionsonly. In this paper we introduce a generalized motion planningformulation in SE(3), regarding both position and orientation, that issuitable for these approaches. To emphasize the generalization of this formulationwe evaluate the performance of proposed Bidirectional RapidlyexploringRandom Trees (Bi-RRT) on four different clinical applications:Drilling in temporal bone surgery, trajectory planning for cardiopulmonaryendoscopy, automatic needle insertion for spine biopsy and livertumor removal. Experiments show that for all four scenarios the formulationis suitable and feasible trajectories can be planned successfully.
Originalspracheenglisch
Titel OR 2.0 Context-Aware Operating Theaters, Computer Assisted Robotic Endoscopy, Clinical Image-Based Procedures, and Skin Image Analysis
UntertitelCARE 2018, CLIP 2018, OR 2.0 2018, ISIC 2018
Herausgeber (Verlag)Springer
Seiten46-53
Seitenumfang8
ISBN (Print)303001200X
DOIs
PublikationsstatusVeröffentlicht - 2018

Publikationsreihe

NameLecture Notes in Computer Science
Herausgeber (Verlag)Springer
Band11041

Schlagwörter

    Fields of Expertise

    • Information, Communication & Computing

    Dies zitieren

    Fauser, J., Stenin, I., Kristin, J., Klenzner, T. U. D., Schipper, J. U. D., Fellner, D., & Mukhopadhyay, A. (2018). Generalized Trajectory Planning for Nonlinear Interventions. in OR 2.0 Context-Aware Operating Theaters, Computer Assisted Robotic Endoscopy, Clinical Image-Based Procedures, and Skin Image Analysis: CARE 2018, CLIP 2018, OR 2.0 2018, ISIC 2018 (S. 46-53). (Lecture Notes in Computer Science; Band 11041). Springer. https://doi.org/10.1007/978-3-030-01201-4_6

    Generalized Trajectory Planning for Nonlinear Interventions. / Fauser, Johannes ; Stenin, Igor ; Kristin, Julia ; Klenzner, Thomas Universitätsklinikum Düsseldorf; Schipper, Jörg Universitätsklinikum Düsseldorf; Fellner, Dieter; Mukhopadhyay, Anirban.

    OR 2.0 Context-Aware Operating Theaters, Computer Assisted Robotic Endoscopy, Clinical Image-Based Procedures, and Skin Image Analysis: CARE 2018, CLIP 2018, OR 2.0 2018, ISIC 2018. Springer, 2018. S. 46-53 (Lecture Notes in Computer Science; Band 11041).

    Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandForschungBegutachtung

    Fauser, J, Stenin, I, Kristin, J, Klenzner, TUD, Schipper, JUD, Fellner, D & Mukhopadhyay, A 2018, Generalized Trajectory Planning for Nonlinear Interventions. in OR 2.0 Context-Aware Operating Theaters, Computer Assisted Robotic Endoscopy, Clinical Image-Based Procedures, and Skin Image Analysis: CARE 2018, CLIP 2018, OR 2.0 2018, ISIC 2018. Lecture Notes in Computer Science, Bd. 11041, Springer, S. 46-53. https://doi.org/10.1007/978-3-030-01201-4_6
    Fauser J, Stenin I, Kristin J, Klenzner TUD, Schipper JUD, Fellner D et al. Generalized Trajectory Planning for Nonlinear Interventions. in OR 2.0 Context-Aware Operating Theaters, Computer Assisted Robotic Endoscopy, Clinical Image-Based Procedures, and Skin Image Analysis: CARE 2018, CLIP 2018, OR 2.0 2018, ISIC 2018. Springer. 2018. S. 46-53. (Lecture Notes in Computer Science). https://doi.org/10.1007/978-3-030-01201-4_6
    Fauser, Johannes ; Stenin, Igor ; Kristin, Julia ; Klenzner, Thomas Universitätsklinikum Düsseldorf ; Schipper, Jörg Universitätsklinikum Düsseldorf ; Fellner, Dieter ; Mukhopadhyay, Anirban. / Generalized Trajectory Planning for Nonlinear Interventions. OR 2.0 Context-Aware Operating Theaters, Computer Assisted Robotic Endoscopy, Clinical Image-Based Procedures, and Skin Image Analysis: CARE 2018, CLIP 2018, OR 2.0 2018, ISIC 2018. Springer, 2018. S. 46-53 (Lecture Notes in Computer Science).
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    title = "Generalized Trajectory Planning for Nonlinear Interventions",
    abstract = "Minimally invasive procedures with flexible instruments suchas endoscopes, needles or drilling units are becoming more and more common.Their automated insertion will be standard across several applicationsin operation rooms of the future. In such scenarios regular replanningfor feasible nonlinear trajectories is a mandatory step towardautomation. However, state of the art methods focus on isolated solutionsonly. In this paper we introduce a generalized motion planningformulation in SE(3), regarding both position and orientation, that issuitable for these approaches. To emphasize the generalization of this formulationwe evaluate the performance of proposed Bidirectional RapidlyexploringRandom Trees (Bi-RRT) on four different clinical applications:Drilling in temporal bone surgery, trajectory planning for cardiopulmonaryendoscopy, automatic needle insertion for spine biopsy and livertumor removal. Experiments show that for all four scenarios the formulationis suitable and feasible trajectories can be planned successfully.",
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    AU - Schipper, Jörg Universitätsklinikum Düsseldorf

    AU - Fellner, Dieter

    AU - Mukhopadhyay, Anirban

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