Publications

Books    |    Journal Articles    |    Refereed Proceedings    |    Conference Abstracts    |    Theses    |    Patents

Book cover for Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures

Books

  • Ron Alterovitz and Ken Goldberg, Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures, Springer Tracts in Advanced Robotics, Springer, 2008. (Publisher, Amazon.com)

Book Chapters

  • Noah J. Cowan, Ken Goldberg, Gregory S. Chirikjian, Gabor Fichtinger, Ron Alterovitz, Kyle B. Reed, Vinutha Kallem, Wooram Park, Sarthak Misra, and Allison M. Okamura, "Robotic Needle Steering: Design, Modeling, Planning, and Image Guidance," in Surgical Robotics: System Applications and Visions, (J. Rosen, B. Hannaford, and R. M. Satava, eds.), ch. 23, pp. 557-582, Springer, 2011. (Publisher, Amazon.com)

Journal Articles

  • Gustaaf J. Vrooijink, Momen Abayazid, Sachin Patil, Ron Alterovitz, and Sarthak Misra, "Needle Path Planning and Steering in a Three-Dimensional Non-Static Environment using Two-Dimensional Ultrasound Images," International Journal of Robotics Research, 2014 (in press).
  • Sachin Patil, Jessica Burgner, Robert J. Webster III, and Ron Alterovitz, "Needle Steering in 3-D via Rapid Replanning," IEEE Transactions on Robotics, 2014 (in press).
  • Jur van den Berg, Sachin Patil, and Ron Alterovitz, "Motion Planning Under Uncertainty Using Iterative Local Optimization in Belief Space," International Journal of Robotics Research, vol. 31, no. 11, pp. 1263-1278, Sep. 2012. (Publisher) (Download PDF)
  • Kyle B. Reed, Ann Majewicz, Vinutha Kallem, Ron Alterovitz, Ken Goldberg, Noah J. Cowan, Allison M. Okamura, "Robot-Assisted Needle Steering," IEEE Robotics and Automation Magazine, vol. 18, pp. 35-46, Dec. 2011. (Publisher) (Download PDF)
  • Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, and Ken Goldberg, "Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics," International Journal of Robotics Research, vol. 29, no. 7, pp. 789-800, June 2010. (Publisher) (Download PDF)
  • Nuttapong Chentanez, Ron Alterovitz, Daniel Ritchie, Jonha Cho, Kris K. Hauser, Ken Goldberg, Jonathan R. Shewchuk, and James F. O'Brien, "Interactive Simulation of Surgical Needle Insertion and Steering," ACM Transactions on Graphics (Proc. SIGGRAPH), vol. 28, no. 3, pp. 88:1-88:10, Aug. 2009. (Publisher) (Download PDF) (Video)
    (Image from article featured on back cover)
  • Ron Alterovitz, Aaron Arvey, Sriram Sankararaman, Carolina Dallett, Yoav Freund, and Kimmen Sjölander, "ResBoost: Characterizing and Predicting Catalytic Residues in Enzymes," BMC Bioinformatics, vol. 10, no. 197, pp. 1-14, June 2009. (Publisher) (Download PDF)
    (Designated as "Highly accessed" by BMC Bioinformatics)
  • Ron Alterovitz and Jaydev P. Desai, "Surgical Robotics," IEEE Robotics and Automation Magazine, vol. 16, no. 2, pp. 16-17, June 2009. (Publisher)
  • Ron Alterovitz, Ken Goldberg, Jean Pouliot, and I-Chow Hsu, "Sensorless Motion Planning for Medical Needle Insertion in Deformable Tissues," IEEE Trans. Information Technology in Biomedicine, vol. 13, no. 2, pp. 217-225, Mar. 2009. (Publisher) (Download PDF)
  • Ron Alterovitz, Michael Branicky, and Ken Goldberg, "Motion Planning Under Uncertainty for Image-Guided Medical Needle Steering," International Journal of Robotics Research, vol. 27, no. 11-12, pp. 1361-1374, Nov. 2008. (Publisher) (Download PDF)
  • Ron Alterovitz, Etienne Lessard, Jean Pouliot, I-Chow Hsu, James F. O'Brien, and Ken Goldberg, "Optimization of HDR brachytherapy dose distributions using linear programming with penalty costs," Medical Physics, vol. 33, no. 11, pp. 4012-4019, Nov. 2006. (Publisher) (Download PDF)
  • Ron Alterovitz, Ken Goldberg, Jean Pouliot, I-Chow Hsu, Yongbok Kim, Susan Moyher Noworolski, and John Kurhanewicz, "Registration of MR prostate images with biomechanical modeling and nonlinear parameter estimation," Medical Physics, vol. 33, no. 2, pp. 446-454, Feb. 2006. (Publisher) (Download PDF)

Refereed Conference Proceedings

  • Luis G. Torres, Cenk Baykal, and Ron Alterovitz, "Interactive-rate Motion Planning for Concentric Tube Robots," to appear in Proc. IEEE International Conference on Robotics and Automation (ICRA), May 2014.
  • Jeffrey Ichnowski, Jan F. Prins, and Ron Alterovitz, "Cache-Aware Asymptotically-Optimal Sampling-Based Motion Planning," to appear in Proc. IEEE International Conference on Robotics and Automation (ICRA), May 2014.
  • Wen Sun, Islam S. M. Khalil, Sarthak Misra, and Ron Alterovitz, "Motion Planning for Paramagnetic Microparticles Under Motion and Sensing Uncertainty," to appear in Proc. IEEE International Conference on Robotics and Automation (ICRA), May 2014.
  • Pedro Moreira, Sachin Patil, Ron Alterovitz, and Sarthak Misra, "Needle Steering in Biological Tissue using Ultrasound-based Online Curvature Estimation," to appear in Proc. IEEE International Conference on Robotics and Automation (ICRA), May 2014.
  • Wen Sun, Luis G. Torres, Jur van den Berg, and Ron Alterovitz, "Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision," in Proc. International Symposium on Robotics Research (ISRR), Dec. 2013. (Download PDF)
  • Edgar J. Lobaton, Jinghua Fu, Luis G. Torres, and Ron Alterovitz, "Continuous Shape Estimation of Continuum Robots Using X-ray Images," in Proc. IEEE International Conference on Robotics and Automation (ICRA), May 2013, pp. 717-724. (Publisher) (Download PDF)
  • Jeffrey Ichnowski and Ron Alterovitz, "Parallel Sampling-Based Motion Planning with Superlinear Speedup," in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2012, pp. 1206-1212. (Publisher) (Download PDF)
  • Luis G. Torres, Robert J. Webster III, and Ron Alterovitz, "Task-oriented Design of Concentric Tube Robots using Mechanics-based Models," in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2012, pp. 4449-4455. (Publisher) (Download PDF)
  • Jur van den Berg, Sachin Patil, and Ron Alterovitz, "Efficient Approximate Value Iteration for Continuous Gaussian POMDPs," in Proc. Twenty-Sixth AAAI Conference (AAAI-12), July 2012, pp. 1832-1838. (Download PDF)
  • Sachin Patil, Jur van den Berg, and Ron Alterovitz, "Estimating Probability of Collision for Safe Planning under Gaussian Motion and Sensing Uncertainty," in Proc. IEEE International Conference on Robotics and Automation (ICRA), May 2012, pp. 3238-3244. (Publisher) (Download PDF)
  • Edgar Lobaton, Ram Vasudevan, Ron Alterovitz, and Ruzena Bajcsy, "Robust Topological Features for Deformation Invariant Image Matching," in Proc. International Conference on Computer Vision (ICCV), Nov. 2011. (Download PDF)
  • Luis G. Torres and Ron Alterovitz, "Motion Planning for Concentric Tube Robots Using Mechanics-based Models," in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sept. 2011, pp. 5153-5159. (Publisher) (Download PDF)
  • Jur van den Berg, Sachin Patil, and Ron Alterovitz, "Motion Planning under Uncertainty using Differential Dynamic Programming in Belief Space," in Proc. International Symposium on Robotics Research (ISRR), Aug. 2011. (Download PDF)
  • Gu Ye and Ron Alterovitz, "Demonstration-Guided Motion Planning," in Proc. International Symposium on Robotics Research (ISRR), Aug. 2011. (Download PDF) (Video)
  • Sachin Patil, Jur van den Berg, and Ron Alterovitz, "Motion Planning Under Uncertainty In Highly Deformable Environments," in Proc. Robotics: Science and Systems (RSS), June 2011. (Download PDF)
  • Edgar Lobaton, Jinghe Zhang, Sachin Patil, and Ron Alterovitz, "Planning Curvature-Constrained Paths to Multiple Goals Using Circle Sampling," in Proc. IEEE International Conference on Robotics and Automation (ICRA), May 2011, pp. 1463-1469. (Publisher) (Download PDF)
  • Ron Alterovitz, Sachin Patil, and Anna Derbakova, "Rapidly-Exploring Roadmaps: Weighing Exploration vs. Refinement in Optimal Motion Planning," in Proc. IEEE International Conference on Robotics and Automation (ICRA), May 2011, pp. 3706-3712. (Publisher) (Download PDF)
  • Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel and Ken Goldberg, "LQG-Based Planning, Sensing, and Control of Steerable Needles," in Algorithmic Foundation of Robotics IX (WAFR 2010), D. Hsu et al. (Eds.), STAR vol. 68, Springer-Verlag, 2010, pp. 373-389. (Publisher) (Download PDF)
  • Sachin Patil and Ron Alterovitz, "Interactive Motion Planning for Steerable Needles in 3D Environments with Obstacles," in Proc. IEEE RAS/EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob), Sep. 2010, pp. 893-899. (Publisher) (Download PDF)
  • Edgar J. Lobaton, Ramanarayan Vasudevan, Ruzena Bajcsy, and Ron Alterovitz, "Local Occlusion Detection Under Deformations Using Topological Invariants," in Proc. European Conference on Computer Vision (ECCV), Lecture Notes in Computer Science 6313, Sep. 2010, pp. 101-114. (Download PDF)
  • Lisa A. Lyons, Robert J. Webster III, and Ron Alterovitz, "Planning Active Cannula Configurations Through Tubular Anatomy," in Proc. IEEE International Conference on Robotics and Automation (ICRA), May 2010, pp. 2082-2087. (Publisher) (Download PDF)
  • Sachin Patil and Ron Alterovitz, "Toward Automated Tissue Retraction in Robot-Assisted Surgery," in Proc. IEEE International Conference on Robotics and Automation (ICRA), May 2010, pp. 2088-2094. (Publisher) (Download PDF)
  • Lisa A. Lyons, Robert J. Webster III, and Ron Alterovitz, "Motion Planning for Active Cannulas," in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2009, pp. 801-806. (Publisher) (Download PDF)
  • Jijie Xu, Vincent Duindam, Ron Alterovitz, Jean Pouliot, J. Adam M. Cunha, I-Chow Hsu, and Ken Goldberg, "Planning Fireworks Trajectories for Steerable Medical Needles to Reduce Patient Trauma," in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2009, pp. 4517-4522. (Publisher) (Download PDF)
  • Kris Hauser, Ron Alterovitz, Nuttapong Chentanez, Allison Okamura, and Ken Goldberg, "Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths," in Proc. Robotics: Science and Systems, June 2009. (Download PDF)
  • Meysam Torabi, Kris K. Hauser, Ron Alterovitz, Vincent Duindam, and Ken Goldberg, "Guiding Medical Needles Using Single-Point Tissue Manipulation," in Proc. IEEE International Conference on Robotics and Automation (ICRA), May 2009, pp. 2705-2710. (Publisher) (Download PDF) (Video)
    (Best Medical Robotics Paper Award Finalist)
  • Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, and Ken Goldberg, "3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics," in Proc. WAFR 2008: The Eighth International Workshop on the Algorithmic Foundations of Robotics, Dec. 2008. (Download PDF)
  • Kyle B. Reed, Vinutha Kallem, Ron Alterovitz, Ken Goldberg, Allison M. Okamura, and Noah J. Cowan, "Integrated Planning and Image-Guided Control for Planar Needle Steering," in Proc. IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Oct. 2008, pp. 819-824. (Download PDF)
  • Jeremy Schiff, Anand Kulkarni, Danny Bazo, Vincent Duindam, Ron Alterovitz, Dezhen Song, and Ken Goldberg, "Actuator networks for navigating an unmonitored mobile robot," in Proc. IEEE International Conference on Automation Science and Engineering (CASE), Aug. 2008, pp. 53-60. (Download PDF)
  • Jijie Xu, Vincent Duindam, Ron Alterovitz, and Ken Goldberg, "Motion Planning for Steerable Needles in 3D Environments with Obstacles Using Rapidly-Exploring Random Trees and Backchaining," in Proc. IEEE International Conference on Automation Science and Engineering (CASE), Aug. 2008, pp. 41-46. (Download PDF)
  • Vincent Duindam, Ron Alterovitz, Shankar Sastry, and Ken Goldberg, "Screw-Based Motion Planning for Bevel-Tip Flexible Needles in 3D Environments with Obstacles," in Proc. IEEE International Conference on Robotics and Automation (ICRA), May 2008, pp. 2483-2488. (Download PDF)
  • Ron Alterovitz, Thierry Siméon, and Ken Goldberg, "The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty," in Robotics: Science and Systems III (Proc. RSS 2007), W. Burgard et al. (Eds.), MIT Press, 2008, pp. 233-241. (Download PDF)
  • Ron Alterovitz, Michael Branicky, and Ken Goldberg, "Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering," in Algorithmic Foundation of Robotics VII (WAFR 2006), S. Akella et al. (Eds.), STAR vol. 47, Springer-Verlag, 2008, pp. 319-334. (Download PDF)
  • Ron Alterovitz, Andrew Lim, Ken Goldberg, Gregory S. Chirikjian, and Allison M. Okamura, "Steering Flexible Needles Under Markov Motion Uncertainty," in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Aug. 2005, pp. 120-125. (Download PDF)
  • Ron Alterovitz, Ken Goldberg, and Allison Okamura, "Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles," in Proc. IEEE International Conference on Robotics and Automation (ICRA), Apr. 2005, pp. 1652-1657. (Download PDF)
  • Ron Alterovitz, Ken Goldberg, John Kurhanewicz, Jean Pouliot, I-Chow Hsu, "Image Registration for Prostate MR Spectroscopy Using Biomechanical Modeling and Optimization of Force and Stiffness Parameters," in Proc. 26th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS), Sept. 2004, pp. 1722-1725. (Download PDF)
  • Ron Alterovitz, Jean Pouliot, Richard Taschereau, I-Chow Hsu, and Ken Goldberg, "Sensorless Planning for Medical Needle Insertion Procedures," in Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Oct. 2003, pp. 3337-3343. (Download PDF)
    (Best Paper Award Finalist)
  • Ron Alterovitz, Jean Pouliot, Richard Taschereau, I-Chow Hsu, and Ken Goldberg, "Needle Insertion and Radioactive Seed Implantation in Human Tissues: Simulation and Sensitivity Analysis," in Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA 2003), Sept. 2003, pp. 1793-1799. (Download PDF)
  • James Moller, Mathew Carlson, Ron Alterovitz, and Joseph Swartz, "Post-ejection Cooling Behavior of Injection Molded Parts," in Proc. 56th Annual Technical Conference (ANTEC '98), Vol. 1, Society of Plastics Engineers, Brookfield, CT, 1998, pp. 525-529.

Conference Abstracts

  • Andinet Enquobahrie, Vikas Shivaprabhu, Stephen Aylward, Julien Finet, Kevin Cleary, and Ron Alterovitz, "Patient-specific Port Placement for Laparoscopic Surgery Using Atlas-based Registration," SPIE Medical Imaging, Feb. 2013.
  • Guus Vrooijink, Momen Abayazid, Sachin Patil, Ron Alterovitz, and Sarthak Misra, "Three-dimensional Flexible Needle Steering Using Two-dimensional Ultrasound Images," 4th Dutch Bio-Medical Engineering Conference, Egmond aan Zee, The Netherlands, Jan. 2013.
  • Nuttapong Chentanez, Ron Alterovitz, Daniel Ritchie, Lita Cho, Kris K. Hauser, Ken Goldberg, Jonathan R. Shewchuk, James F. O'Brien, "Simulation of Needle Insertion and Tissue Deformation for Modeling Prostate Brachytherapy," American Brachytherapy Society (ABS) Annual Meeting, Atlanta, GA, April 2010.
  • Sophie Barbe, Isabelle Andre, Juan Cortes, Ron Alterovitz, Vincent Lafaquiere, David Guieysse, Pierre Monsan, Magali Remaud-Simeon, and Thierry Simeon, "A Robotic-based Path Planning Approach for Computing Large-Amplitude Motions of Flexible Molecules," Fifteenth Meeting on Graphics and Molecular Modeling (GGMM), Grenoble, France, May 2007.
  • Michael Wehner, Ron Alterovitz, and Ken Goldberg, "Geometric Nonlinearity: Is it Important for Real-time FEM Surgical Simulation?," Medicine Meets Virtual Reality 14 (MMVR14), Long Beach, CA, Jan. 2006. (Download PDF)
  • Ron Alterovitz, Etienne Lessard, Jean Pouliot, I-Chow Hsu, James F. O'Brien, and Ken Goldberg, "High-dose-rate Brachytherapy Dose Optimization for Prostate Cancer Using Linear Programming," Institute for Operations Research and the Management Sciences (INFORMS) Annual Meeting, San Francisco, CA, Nov. 2005.
  • Ron Alterovitz, Yongbok Kim, John Kurhanewicz, Jean Pouliot, I-Chow Hsu, and Ken Goldberg, "Prostate MR Spectroscopy Image Registration Using Biomechanical Modeling of Tissue Deformations due to Endorectal Probe Insertion," American Brachytherapy Society (ABS) 26th Annual Meeting, San Francisco, CA, June 2005.
  • Ron Alterovitz, Ken Goldberg, John Kurhanewicz, Jean Pouliot, I-Chow Hsu, "Registering MR with MRS images for HDR prostate treatment using finite element modeling," 46th American Association of Physicists in Medicine (AAPM) Annual Meeting, Pittsburgh, PA, July 2004.
  • Ron Alterovitz, Jean Pouliot, Richard Taschereau, I-Chow Hsu, and Ken Goldberg, "Modeling Seed Misplacement by Simulating Tissue Deformations," American Brachytherapy Society (ABS) 24th Annual Meeting, New York, NY, May 2003.
  • Ron Alterovitz, Jean Pouliot, Richard Taschereau, I-Chow Hsu, and Ken Goldberg, "Simulating Needle Insertion and Radioactive Seed Implantation for Prostate Brachytherapy," in Medicine Meets Virtual Reality 11 (MMVR11), J.D. Westwood et al. (Eds.), IOS Press, Jan. 2003, pp. 19-25. (Download PDF)

Technical Reports

  • Ron Alterovitz and Ken Goldberg, "Comparing Algorithms for Soft Tissue Deformation: Accuracy Metrics and Benchmarks," Technical Report (Draft), Berkeley Automation Laboratory, UC Berkeley, June 2002. (Download PDF)

Theses

  • Sachin Patil, "Closed-Loop Planning and Control of Steerable Medical Needles," Ph.D. Thesis (advised by Prof. Ron Alterovitz), The University of North Carolina at Chapel Hill, June 2013.
  • Pavel Chtcheprov, "Low-Cost Robot Platform for Medical Robotics Research," Undergraduate Honors Thesis (advised by Prof. Ron Alterovitz), The University of North Carolina at Chapel Hill, May 2011.
  • Ron Alterovitz, "Planning and Optimization Algorithms for Image-Guided Medical Procedures," Ph.D. Thesis, University of California, Berkeley, Sep. 2006. (Download PDF)

Patents

  • Robert J. Webster III, Allison M. Okamura, Noah J. Cowan, Gregory S. Chirikjian, Ken Goldberg, and Ron Alterovitz, "Distal bevel-tip needle control device and algorithm," United States Patent 7,822,458, Oct. 2010. (View Patent)

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