Publications and Talks

Books | Journal Articles | Refereed Proceedings | Conference Abstracts | Thesis | Patents | Invited Talks

Books

Book cover for Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures
  • Ron Alterovitz and Ken Goldberg, "Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures," Springer Tracts in Advanced Robotics, Springer, 2008.

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Refereed Journal Articles

  • Ron Alterovitz, Michael Branicky, and Ken Goldberg, "Motion Planning Under Uncertainty for Image-Guided Medical Needle Steering," to appear in International Journal of Robotics Research, 2008.
  • Ron Alterovitz, Etienne Lessard, Jean Pouliot, I-Chow Joe 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. (Download PDF)
  • Ron Alterovitz, Ken Goldberg, Jean Pouliot, I-Chow Joe 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. (Download PDF)

Refereed Conference Proceedings

  • 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.
  • Jeremy Schiff, Anand Kulkarni, Danny Bazo, Vincent Duindam, Ron Alterovitz, Dezhen Song, and Ken Goldberg, "Actuator Networks for Navigation of an Unobserved Mobile Robot Without Localization," in Proc. IEEE International Conference on Automation Science and Engineering (CASE), Aug. 2008. (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. (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 Proc. Robotics: Science and Systems, Jun. 2007. (Download PDF)
  • Ron Alterovitz, Michael Branicky, and Ken Goldberg, "Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering," in Proc. Workshop on the Algorithmic Foundations of Robotics, Jul. 2006. (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 Joe 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 Joe 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

  • 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 Joe 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 Joe 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 Joe 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 Joe 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)

Thesis

  • 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,'' US patent pending 11/436,995, May 2006.

Invited Talks

  • Carnegie Mellon University, Robotics Institute, Pittsburgh, PA, June 17, 2008.
  • Arizona State University, Biomedical Informatics Department, Phoenix, AZ, May 22, 2008.
  • Vanderbilt University, Mechanical Engineering Department, Nashville, TN, Apr. 21, 2008.
  • University of North Carolina, Chapel Hill, Computer Science Department, Chapel Hill, NC, Mar. 17, 2008.
  • Johns Hopkins University, Center for Computer Integrated Surgical Systems and Technology Engineering Research (CISST ERC), Baltimore, MD, Mar. 5, 2008.
  • University of California, Davis, Center for Information Technology Research in the Interest of Society, Sacramento, CA, Jan. 18, 2008.
  • Workshop on Algorithmic Motion Planning, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, Oct. 29, 2007.
  • University of California, Berkeley, Electrical Engineering and Computer Sciences Department, Berkeley, CA, Oct. 11, 2007.
  • LAAS-CNRS (National Center for Scientific Research), Toulouse, France, Oct. 26, 2006.
  • University of California, Irvine, Computer Science Department, Irvine, CA, Apr. 25, 2006.
  • University of California, Berkeley, Industrial Engineering and Operations Research Department, Berkeley, CA, Oct. 28, 2005.
  • Case Western Reserve University, Electrical Engineering and Computer Science Department, Cleveland, OH, Aug. 18, 2005.
  • Workshop on Medical Robotics and Welfare, 2005 IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, Apr. 18, 2005.
  • George Washington University, Colloquium of the Institute for Biomedical Engineering, Washington, DC, Mar. 25, 2005.
  • Johns Hopkins University, Center for Computer Integrated Surgical Systems and Technology Engineering Research (CISST ERC), Baltimore, MD, Mar. 23, 2005.
  • Workshop on Reality-Based Modeling of Tissues for Simulation and Robot-Assisted Surgery, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, Oct. 31, 2003.
  • Workshop on Recent Advances in Medical Robotics, 2003 IEEE International Conference on Robotics and Automation (ICRA), Taipei, Taiwan, Sept. 15, 2003.


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