RRT-Based Path Planning for Virtual Bronchoscopy Simulator

In this paper, we offer a virtual bronchoscopy simulator as an assistance exploration tool and diagnosis of peripheral lung nodule lesions. We present a proposal for motion planning to a interest region in the lung nodule based on RRT. Navigation will be guided by this path in a 3d virtual lung reconstructed from CT images. We compare several RRT-algorithm looking for the optimal option for the virtual bronchoscopy problem.

[1]  Steven M. LaValle,et al.  Efficient nearest neighbor searching for motion planning , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[2]  Thierry Siméon,et al.  Dynamic-Domain RRTs: Efficient Exploration by Controlling the Sampling Domain , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[3]  Wilbert G. Aguilar,et al.  3D Environment Mapping Using the Kinect V2 and Path Planning Based on RRT Algorithms , 2016 .

[4]  Lydia E. Kavraki,et al.  Probabilistic roadmaps for path planning in high-dimensional configuration spaces , 1996, IEEE Trans. Robotics Autom..

[5]  Brian Mirtich,et al.  V-Clip: fast and robust polyhedral collision detection , 1998, TOGS.

[6]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[7]  Lydia E. Kavraki,et al.  On finding narrow passages with probabilistic roadmap planners , 1998 .

[8]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[9]  R H Choplin,et al.  Virtual Bronchoscopy: Relationships of Virtual Reality Endobronchial Simulations to Actual Bronchoscopic Findings , 1996 .

[10]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[11]  Wilbert G. Aguilar,et al.  Haptic-based navigation for the virtual bronchoscopy , 2011 .

[12]  Rajeev Motwani,et al.  Path Planning in Expansive Configuration Spaces , 1999, Int. J. Comput. Geom. Appl..