Compressed Orientation Reachability Maps for Sub-Second Robotic Needle Entry
Overview
This research presents an Orientation-Based Reachability Map (ORM) that enables sub-second robotic needle entry point planning for liver interventions. The ORM precomputes kinematic feasibility across 188,873 workspace positions and uses a JIT compiled runtime pipeline to achieve planning latencies of 0.289-0.349 seconds per target, significantly faster than existing methods which take 13.5-26.9 seconds. The approach maintains high geometric fidelity with mean convex hull and alpha-shape overlap ratios of 0.933 and 0.976 respectively.
From arXiv Robotics — research abstracts
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · planning latency: 0.289 other · Basis not reported
“on in planning latency from 13.5-26.9 s to 0.289-0.349 s per target while maintaining high geometric fidelity, achieving a mean convex hull volume overlap ratio of 0.933 and a mean alpha-shape volume ratio of 0.976 relative to the baseline reachable point cloud. The proposed ORM framework enables sub-second entry point planning and provides an efficient computational framework for robotic needle insertion in percutan”
Exact source · revision 1Source owner not reported
Reported quantity · mean convex hull volume overlap ratio: 0.933 other · Basis not reported
“on in planning latency from 13.5-26.9 s to 0.289-0.349 s per target while maintaining high geometric fidelity, achieving a mean convex hull volume overlap ratio of 0.933 and a mean alpha-shape volume ratio of 0.976 relative to the baseline reachable point cloud. The proposed ORM framework enables sub-second entry point planning and provides an efficient computational framework for robotic needle insertion in percutan”
Exact source · revision 1Source owner not reported
Reported quantity · mean alpha-shape volume ratio: 0.976 other · Basis not reported
“on in planning latency from 13.5-26.9 s to 0.289-0.349 s per target while maintaining high geometric fidelity, achieving a mean convex hull volume overlap ratio of 0.933 and a mean alpha-shape volume ratio of 0.976 relative to the baseline reachable point cloud. The proposed ORM framework enables sub-second entry point planning and provides an efficient computational framework for robotic needle insertion in percutan”
Exact source · revision 1Source owner not reported
Reported quantity · workspace positions: 188873 other · Basis not reported
“paper introduces an Orientation-Based Reachability Map (ORM) that precomputes the kinematic feasibility of a 6 Degrees of Freedom (DoF) serial manipulator across 188,873 workspace positions and encodes orientation feasibility into a compact, indexed 83 MB map. A Just-In-Time (JIT) compiled runtime pipeline replaces live optimization with near-instantaneous array lookups. Experimental evaluation demonstrates a reducti”
Exact source · revision 1Source owner not reported
Reported quantity · map size: 83 other · Basis not reported
“paper introduces an Orientation-Based Reachability Map (ORM) that precomputes the kinematic feasibility of a 6 Degrees of Freedom (DoF) serial manipulator across 188,873 workspace positions and encodes orientation feasibility into a compact, indexed 83 MB map. A Just-In-Time (JIT) compiled runtime pipeline replaces live optimization with near-instantaneous array lookups. Experimental evaluation demonstrates a reducti”
Exact source · revision 1Source owner not reported
Evidence dependency changes (1)
- 2026-10-31T17:57:57.964Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
Report timeline
Follow attributed reports and material updates.
- arXiv Robotics — research abstractsSignalCompressed Orientation Reachability Maps for Sub-Second Robotic Needle Entry Point Planning
This research presents an Orientation-Based Reachability Map (ORM) that enables sub-second robotic needle entry point planning for liver interventions. The ORM precomputes kinematic feasibility across 188,873 workspace positions and uses a JIT compiled runtime pipeline to achieve planning latencies of 0.289-0.349 seconds per target, significantly faster than existing methods which take 13.5-26.9 seconds. The approach maintains high geometric fidelity with mean convex hull and alpha-shape overlap ratios of 0.933 and 0.976 respectively.
Event coverage history
There is not enough continuous observation data to show a trend.
Timezone · UTC
Article dates follow your selected timezone. Briefing editions use Hong Kong time (UTC+8).