Luis G. Torres — accepted AI-conference papers

2015

A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation

Luis G. Torres, Alan Kuntz, Hunter B. Gilbert, Philip J. Swaney, Richard J. Hendrick, Robert J. Webster +1

ICRA 2015poster

Concentric tube robots are thin, tentacle-like devices that can move along curved paths and can potentially enable new, less invasive surgical procedures. Safe and effective operation of this type of robot requires that the robot's shaft avoid sensitive anatomical structures (e.g., critical vessels…

Cited by 61 Source ↗Scholar ↗

2015

Motion planning for a three-stage multilumen transoral lung access system

Alan Kuntz, Luis G. Torres, Richard H. Feins, Robert J. Webster, Ron Alterovitz

IROS 2015poster

Lung cancer is the leading cause of cancer-related death, and early-stage diagnosis is critical to survival. Biopsy is typically required for a definitive diagnosis, but current low-risk clinical options for lung biopsy cannot access all biopsy sites. We introduce a motion planner for a multilumen t…

Cited by 56 Source ↗Scholar ↗

2015

Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning

Cenk Baykal, Luis G. Torres, Ron Alterovitz

IROS 2015poster

Concentric tube robots are tentacle-like medical robots that can bend around anatomical obstacles to access hard-to-reach clinical targets. The component tubes of these robots can be swapped prior to performing a task in order to customize the robot's behavior and reachable workspace. Optimizing a r…

Cited by 41 Source ↗Scholar ↗