Algorithmic Motion Planning Meets Min-Invasive Robotic Surgery

Algorithmic Motion Planning Meets Min-Invasive Robotic Surgery

Paul G. Allen School via YouTube Direct link

Intro

1 of 26

1 of 26

Intro

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Classroom Contents

Algorithmic Motion Planning Meets Min-Invasive Robotic Surgery

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

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