RRT-Based Path Planning for Virtual Bronchoscopy Simulator

  • Wilbert G. AguilarEmail author
  • Vanessa Abad
  • Hugo Ruiz
  • Jenner Aguilar
  • Fabián Aguilar-Castillo
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10325)


In this paper, we offer a virtual bronchoscopy simulator as an assistance exploration tool and diagnosis of peripheral lung nodule lesions. We present a proposal for motion planning to a interest region in the lung nodule based on RRT. Navigation will be guided by this path in a 3d virtual lung reconstructed from CT images. We compare several RRT-algorithm looking for the optimal option for the virtual bronchoscopy problem.


Path planning RRT Computational geometric Kinematics Virtual reality Bronchoscopy 



This work is part of the project Perception and localization system for autonomous navigation of rotor micro aerial vehicle in gps-denied environments, VisualNavDrone, 2016-PIC-024, from the Universidad de las Fuerzas Armadas ESPE, directed by Dr. Wilbert G. Aguilar.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Wilbert G. Aguilar
    • 1
    • 2
    • 3
    Email author
  • Vanessa Abad
    • 4
  • Hugo Ruiz
    • 1
    • 5
  • Jenner Aguilar
    • 6
  • Fabián Aguilar-Castillo
    • 7
  1. 1.Departamento de Seguridad y DefensaUniversidad de las Fuerzas Armadas, ESPESangolquíEcuador
  2. 2.Centro de Investigación, CICTEUniversidad de las Fuerzas Armadas, ESPESangolquíEcuador
  3. 3.Research Group GRECUniversitat Politècnica de CatalunyaBarcelonaSpain
  4. 4.Departament de GenèticaUniversitat de BarcelonaBarcelonaSpain
  5. 5.Purdue UniversityWest LafayetteUSA
  6. 6.Hospital Vicente Corral MoscosoCuencaEcuador
  7. 7.IESS Hospital GeneralMachalaEcuador

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