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dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.authorPérez Ruiz, Alexander
dc.contributor.authorCabras, Paolo
dc.contributor.authorRosell, Antoni
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2012-06-12T10:41:09Z
dc.date.created2012
dc.date.issued2012
dc.identifier.citationRosell, J. [et al.]. Motion planning for the virtual bronchoscopy. A: IEEE International Conference on Robotics and Automation. "Proceedings of the 2012 IEEE International Conference on Robotics and Automation". St. Paul - Minessota: IEEE, 2012, p. 2932-2937.
dc.identifier.isbnCFP12RAA-USB
dc.identifier.urihttp://hdl.handle.net/2117/16024
dc.description.abstractBronchoscopy is an interventional medical procedure employed to analyze the interior side of the human airways, clear possible obstructions and biopsy. Using a 3D reconstruction of the tracheobronchial tree, Virtual Bronchoscopy (VB) may help physicians in the exploration of peripheral lung lesions. We are developing a haptic-based navigation system for the VB that allows the navigation within the airways using a haptic device whose permitted motions mimics those done with the real bronchoscope. This paper describes the motion planning module of the system devoted to plan a path from the trachea to small peripheral pulmonary lesions, that takes into account the geometry and the kinematic constraints of the bronchoscope. The motion planner output is used to visually and haptically guide the navigation during the virtual exploration using the haptic device. Moreover, physicians can get useful information of whether the peripheral lesions can effectively be reached with a given bronchoscope or of which is the nearest point to the lesion that can be reached.
dc.format.extent6 p.
dc.language.isoeng
dc.publisherIEEE
dc.subjectÀrees temàtiques de la UPC::Enginyeria biomèdica::Electrònica biomèdica
dc.subject.lcshBiomedical engineering
dc.titleMotion planning for the virtual bronchoscopy
dc.typeConference lecture
dc.subject.lemacEnginyeria biomèdica
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.rights.accessRestricted access - publisher's policy
local.identifier.drac10475560
dc.description.versionPostprint (published version)
dc.date.lift10000-01-01
local.citation.authorRosell, J.; Pérez, A.; Cabras, P.; Rosell, A.
local.citation.contributorIEEE International Conference on Robotics and Automation
local.citation.pubplaceSt. Paul - Minessota
local.citation.publicationNameProceedings of the 2012 IEEE International Conference on Robotics and Automation
local.citation.startingPage2932
local.citation.endingPage2937


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