Algorithmic Motion Planning Meets Min-Invasive Robotic Surgery
Offered By: Paul G. Allen School via YouTube
Course Description
Overview
Syllabus
Intro
Medical procedures
Why medical robots? (cont.)
Autonomous planning for medical robots
Motivation & Problem definition
Measuring distances between paths
Following reference paths-Take (1)
Domain-Specific challenges following reference
Key challenge-obstacles along the reference path
Following Paths in Task Space
Following reference paths-Extending the optimization
Design or setup optimization
Design optimization via global optimization
Existing optimization criteria
Pop quiz
Planning to minimize shearing
Evaluation
What types of guarantees do planners offer?
Planning for steerable needles
Site inspecting for CRISP robots
Algorithmic approach
Graph inspection planning-challenges
(Optimal) Graph inspection planning
Using approadmate dominance
Properties and implementation detais
Referenced papers
Taught by
Paul G. Allen School
Related Courses
计算几何 | Computational GeometryTsinghua University via edX Geometric Algorithms
EIT Digital via Coursera Computational Geometry
Saint Petersburg State University via Coursera Computational Geometry
Indian Institute of Technology Delhi via Swayam Computational Geometry
NPTEL via YouTube