Download Motion Planning in Medicine: Optimization and Simulation by Ron Alterovitz PDF
By Ron Alterovitz
The monograph written by way of Ron Alterovitz and Ken Goldberg combines rules from robotics, physically-based modeling, and operations learn to advance new movement making plans and optimization algorithms for image-guided scientific tactics. A problem clinicians typically face is compensating for error brought on by tender tissue deformations that ensue whilst imaging units or surgical instruments bodily touch delicate tissue. a few tools are offered that are utilized to numerous scientific techniques, from biopsies to anaesthesia injections to radiation melanoma therapy. they could even be prolonged to deal with difficulties outdoors the context of scientific robotics, together with nonholonomic movement making plans for cellular robots in box or production environments.
Read or Download Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures PDF
Similar special topics books
Bio-Implant Interface: Improving Biomaterials and Tissue Reactions
Attaining stable scientific results with implanted biomaterials is dependent upon reaching optimum functionality, either mechanical and organic, which in flip will depend on integrating advances discovered in organic technology, fabric technological know-how, and tissue engineering. As those advances beat back the frontiers of biomaterial drugs , the keep an eye on and patterning of bio-implant interface reactions may have an important influence on destiny layout and customers of implant remedies.
Knowledge and Practice in English Medicine, 1550-1680
It is a significant synthesis of the data and perform of early glossy English medication, as expressed in vernacular texts set of their social and cultural contexts. The ebook vividly maps out a few critical components: treatments (and how they have been made credible), notions of ailment, recommendation on preventive drugs and on fit dwelling, and the way and why surgeons labored at the physique.
Ernährungsmedizin kompakt und konkret für Mediziner, Diätassistenten und Ökotrophologen: Grundlagen der Ernährungsphysiologie und Lebensmittelkunde Darstellung der Ernährungs- und Diätformen mit Bewertung aus ernährungswissenschaftlicher SichtErnährung in bestimmten Lebenssituationen (z. B. Schwangerschaft, ältere Patienten)ausführlicher Praxisteil zu Diagnostik und Therapie der ernährungsabhängigen und ernährungsbedingten Krankheiten sowie Tipps für PatientenGrundlagen und Durchführung der künstlichen ErnährungAnhang mit Tabellarien
History of Cognitive Neuroscience
Heritage of Cognitive Neuroscience records the foremost neuroscientific experiments and theories over the past century and a part within the area of cognitive neuroscience, and evaluates the cogency of the conclusions which have been drawn from them. offers a better half paintings to the hugely acclaimed Philosophical Foundations of Neuroscience - combining medical element with philosophical insightsViews the evolution of mind technology during the lens of its important figures and experimentsAddresses philosophical feedback of Bennett and Hacker's past bookAccompanied by means of greater than a hundred illustrations
- A Cheap, Safe and Natural Medicine. Religion, Medicine and Culture in John Wesley's Primitive Physic. (Clio Medica 83). (The Wellcome Series in the History of Medicine)
- Health, State and Society in Kenya: Faces of Contact and Change (Rochester Studies in African History and the Diaspora)
- Children’s Surgery : A Worldwide History
- An alternative path: the making and remaking of Hahnemann Medical College and Hospital of Philadelphia
- Greek Rational Medicine. Philosophy and Medicine from Alcmaeon to the Alexandrians
Additional info for Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures
Example text
The needles followed constant-curvature paths in a plane when bevel rotation was fixed during needle insertion. Webster et al. [208] then developed a nonholonomic model for the steering flexible bevel-tip needles in rigid tissues. The nonholonomic model, R. Alterovitz and K. Goldberg: Motion Planning in Medicine, STAR 50, pp. 45–55, 2008. com 46 Motion Planning in Deformable Soft Tissue with Obstacles (a) Prostate, target, and obstacles (b) Bevel-left default trajectory (c) Bevel-left plan (d) Bevel-right plan Fig.
In Frame (b), the needle is inserted and the radioactive seed (small square) is released at the needle tip. In Frame (c), the needle is retracted. Frame (d) indicates the resulting placement error, the distance between the target and resulting actual seed location. Without planning, placement error is substantial: 26% of the prostate diameter, resulting in damage to healthy tissue and failure to kill cancerous cells. With sensorless planning, shown in the bottom image of Frame (d), placement error is negligible in this simulation.
When the needle pushes against the lower half of the prostate from the right, the prostate rotates clockwise because it is stiffer than the surrounding tissue. This rotation can lead to significant changes in the optimal needle insertion height. 1, where X has 2 degrees of freedom, yr and zr . To computationally accelerate the optimization, we consider two one-dimensional problems. First, we implement an algorithm that, given an insertion height yr , computes the optimal insertion depth zr : zr∗ (yr ) = arg min( (S((yr , zr )) − g ).