Path planning for steerable needles using duty-cycled spinning

M.C. Bernardes^*,†, B.V. Adorno^*, P. Poignet^*, N. Zemiti^* and G.A. Borges^†

^(*) Université Montpellier 2, LIRMM, France
^(†) Universidade de Brasília, LARA, Brazil
E-mail: bernardes@lirmm.fr, adorno@lirmm.fr, poignet@lirmm.fr, nabil@lirmm.fr, bernardes@unb.br, gaborges@unb.br

Abstract

This paper presents an adaptive approach for 2D path planning of steerable needles. It combines dutycycled rotation of the needle with the classic RapidlyExploring Random Tree (RRT) algorithm and it is used intraoperatively to compensate for system uncertainties and perturbations. Simulation results demonstrate the performance of the proposed motion planner on a workspace based in ultrasound images.