Leonardo Cerri

Automatic Optimized 3D Path Planner for Steerable Catheters with Heuristic Search and Uncertainty Tolerance

In this paper, an automatic planner for minimally invasive neurosurgery is presented. The solution provides the neurosurgeon with the best path to connect a user-defined entry point with a target in accordance with a specific cost function. The approach guarantees the avoidance of obstacles which ca…