| Motion planning under uncertainty using iterative local optimization in belief space J Van Den Berg, S Patil, R Alterovitz The International Journal of Robotics Research 31 (11), 1263-1278, 2012 | 315 | 2012 |
| Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles R Alterovitz, K Goldberg, A Okamura Proceedings of the 2005 IEEE international conference on robotics and …, 2005 | 291 | 2005 |
| The stochastic motion roadmap: A sampling framework for planning with Markov motion uncertainty R Alterovitz, T Siméon, K Goldberg Robotics: Science and systems, 2007 | 280 | 2007 |
| Distal bevel-tip needle control device and algorithm RJ Webster III, AM Okamura, NJ Cowan, G Chirikjian, KY Goldberg, ... US Patent 7,822,458, 2010 | 226 | 2010 |
| Motion planning under uncertainty for image-guided medical needle steering R Alterovitz, M Branicky, K Goldberg The International Journal of Robotics Research 27 (11-12), 1361-1374, 2008 | 220 | 2008 |
| Robot-assisted needle steering KB Reed, A Majewicz, V Kallem, R Alterovitz, K Goldberg, NJ Cowan, ... IEEE robotics & automation magazine 18 (4), 35-46, 2011 | 202 | 2011 |
| Interactive simulation of surgical needle insertion and steering N Chentanez, R Alterovitz, D Ritchie, L Cho, KK Hauser, K Goldberg, ... ACM SIGGRAPH 2009 papers, 1-10, 2009 | 191 | 2009 |
| Needle insertion and radioactive seed implantation in human tissues: Simulation and sensitivity analysis R Alterovitz, K Goldberg, J Pouliot, R Taschereau, IC Hsu 2003 IEEE International Conference on Robotics and Automation (Cat. No …, 2003 | 159 | 2003 |
| Steering flexible needles under Markov motion uncertainty R Alterovitz, A Lim, K Goldberg, GS Chirikjian, AM Okamura 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2005 | 158 | 2005 |
| Needle steering in 3-D via rapid replanning S Patil, J Burgner, RJ Webster, R Alterovitz IEEE Transactions on Robotics 30 (4), 853-864, 2014 | 144 | 2014 |
| Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles V Duindam, R Alterovitz, S Sastry, K Goldberg 2008 IEEE international conference on robotics and automation, 2483-2488, 2008 | 140 | 2008 |
| Robotic needle steering: Design, modeling, planning, and image guidance NJ Cowan, K Goldberg, GS Chirikjian, G Fichtinger, R Alterovitz, KB Reed, ... Surgical robotics, 557-582, 2011 | 133 | 2011 |
| for Prostate Brachytherapy R Alterovitz Medicine Meets Virtual Reality 11: NextMed: Health Horizon 94, 19, 2003 | 132 | 2003 |
| Task-oriented design of concentric tube robots using mechanics-based models LG Torres, RJ Webster, R Alterovitz 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2012 | 129 | 2012 |
| Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images GJ Vrooijink, M Abayazid, S Patil, R Alterovitz, S Misra The International journal of robotics research 33 (10), 1361-1374, 2014 | 128 | 2014 |
| Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring random trees and backchaining J Xu, V Duindam, R Alterovitz, K Goldberg 2008 IEEE international conference on automation science and engineering, 41-46, 2008 | 124 | 2008 |
| Estimating probability of collision for safe motion planning under Gaussian motion and sensing uncertainty S Patil, J Van Den Berg, R Alterovitz 2012 IEEE International Conference on Robotics and Automation, 3238-3244, 2012 | 123 | 2012 |
| Three-dimensional motion planning algorithms for steerable needles using inverse kinematics V Duindam, J Xu, R Alterovitz, S Sastry, K Goldberg The International Journal of Robotics Research 29 (7), 789-800, 2010 | 122 | 2010 |
| Interactive motion planning for steerable needles in 3D environments with obstacles S Patil, R Alterovitz 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and …, 2010 | 120 | 2010 |
| Registration of MR prostate images with biomechanical modeling and nonlinear parameter estimation R Alterovitz, K Goldberg, J Pouliot, ICJ Hsu, Y Kim, SM Noworolski, ... Medical physics 33 (2), 446-454, 2006 | 117 | 2006 |
Ken GoldbergProfessor, UC Berkeley and UCSFVerified email at berkeley.edu
