The following publications are possibly variants of this publication:
- Toward certifiable optimal motion planning for medical steerable needlesMengyu Fu, Kiril Solovey, Oren Salzman, Ron Alterovitz. ijrr, 42(10):798-826, September 2023. [doi]
- Toward Certifiable Motion Planning for Medical Steerable NeedlesMengyu Fu, Oren Salzman, Ron Alterovitz. rss 2021: [doi]
- 3D Motion Planning Algorithms for Steerable Needles Using Inverse KinematicsVincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg. wafr 2009: 535-549 [doi]
- Motion Planning Under Uncertainty for Image-guided Medical Needle SteeringRon Alterovitz, Michael S. Branicky, Kenneth Y. Goldberg. ijrr, 27(11-12):1361-1374, 2008. [doi]
- Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse KinematicsVincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg. ijrr, 29(7):789-800, 2010. [doi]
- Safer Motion Planning of Steerable Needles via a Shaft-to-Tissue Force ModelMichael Bentley, Caleb Rucker, Chakravarthy Reddy, Oren Salzman, Alan Kuntz. jmrr, 8(1&2), March & June 2023. [doi]
- Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary ImagesMengyu Fu, Alan Kuntz, Robert J. Webster, Ron Alterovitz. iros 2018: 4942-4949 [doi]
- Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring Random Trees and backchainingJijie Xu, Vincent Duindam, Ron Alterovitz, Ken Goldberg. case 2008: 41-46 [doi]
- Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle SteeringRon Alterovitz, Michael S. Branicky, Kenneth Y. Goldberg. wafr 2008: 319-334 [doi]
- Motion planning under uncertainty for medical needle steering using optimization in belief spaceWen Sun, Ron Alterovitz. iros 2014: 1775-1781 [doi]
- Steering flexible needles under Markov motion uncertaintyRon Alterovitz, Andrew Lim, Kenneth Y. Goldberg, Gregory S. Chirikjian, Allison M. Okamura. iros 2005: 1570-1575 [doi]