tailieunhanh - Springer Tracts in Advanced RoboticsVolume 50Editors: Bruno Siciliano · Oussama Khatib · Frans Groen.Ron Alterovitz and Ken GoldbergMotion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided ProceduresABC.Professor Brun

Springer Tracts in Advanced Robotics Volume 50 Editors: Bruno Siciliano · Oussama Khatib · Frans Groen .Ron Alterovitz and Ken Goldberg Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures ABC .Professor Bruno Siciliano, Dipartimento di Informatica e Sistemistica, Università di Napoli Federico II, Via Claudio 21, 80125 Napoli, Italy, E-mail: siciliano@ Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University, Stanford, CA 94305-9010, USA, E-mail: khatib@ Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403, 1098 SJ Amsterdam, The Netherlands, E-mail: groen@ Authors Ron Alterovitz UCSF Comprehensive Cancer Center University of California, San Francisco San Francisco, CA 94143-1708 USA and. | Springer Tracts in Advanced Robotics Volume 50 Editors Bruno Siciliano Oussama Khatib Frans Groen Ron Alterovitz and Ken Goldberg Motion Planning in Medicine Optimization and Simulation Algorithms for Image-Guided Procedures Springer Professor Bruno Siciliano Dipartimento di Informatica e Sistemistica Università di Napoli Federico II Via Claudio 21 80125 Napoli Italy E-mail siciliano@ Professor Oussama Khatib Robotics Laboratory Department of Computer Science Stanford University Stanford CA 94305-9010 USA E-mail khatib@ Professor Frans Groen Department of Computer Science Universiteit van Amsterdam Kruislaan 403 1098 SJ Amsterdam The Netherlands E-mail groen@ Authors Ron Alterovitz UCSF Comprehensive Cancer Center University of California San Francisco San Francisco CA 94143-1708 USA and Department of Electrical Engineering and Computer Sciences University of California Berkeley Berkeley CA 94720-1777 USA E-Mail ronalt@ Professor Ken Goldberg Department of Industrial Engineering and Operations Research Department of Electrical Engineering and Computer Sciences University of California Berkeley Berkeley CA 94720-1777 USA E-Mail goldberg@ ISBN 978-3-540-69257-7 e-ISBN 978-3-540-69259-1 DOI 978-3-540-69259-1 Springer Tracts in Advanced Robotics ISSN 1610-7438 Library of Congress Control Number 2008928446 2008 Springer-Verlag Berlin Heidelberg This work is subject to copyright. All rights are reserved whether the whole or part of the material is concerned specifically the rights of translation reprinting reuse of illustrations recitation broadcasting reproduction on microfilm or in any other way and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9 1965 in its current version and permission for use must always be obtained from Springer. Violations are liable for prosecution under the German .