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Intro
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Classroom Contents
Algorithmic Motion Planning Meets Min-Invasive Robotic Surgery
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- 1 Intro
- 2 Medical procedures
- 3 Why medical robots? (cont.)
- 4 Autonomous planning for medical robots
- 5 Motivation & Problem definition
- 6 Measuring distances between paths
- 7 Following reference paths-Take (1)
- 8 Domain-Specific challenges following reference
- 9 Key challenge-obstacles along the reference path
- 10 Following Paths in Task Space
- 11 Following reference paths-Extending the optimization
- 12 Design or setup optimization
- 13 Design optimization via global optimization
- 14 Existing optimization criteria
- 15 Pop quiz
- 16 Planning to minimize shearing
- 17 Evaluation
- 18 What types of guarantees do planners offer?
- 19 Planning for steerable needles
- 20 Site inspecting for CRISP robots
- 21 Algorithmic approach
- 22 Graph inspection planning-challenges
- 23 (Optimal) Graph inspection planning
- 24 Using approadmate dominance
- 25 Properties and implementation detais
- 26 Referenced papers
