Needle steering and motion planning in soft tissues.
Simon P. DiMaioSeptimiu E. SalcudeanPublished in: IEEE Trans. Biomed. Eng. (2005)
Keyphrases
- soft tissue
- motion planning
- medical images
- finite element
- degrees of freedom
- magnetic resonance
- path planning
- mobile robot
- robot arm
- needle insertion
- deformable models
- trajectory planning
- humanoid robot
- multi robot
- image registration
- soft tissue deformation
- biomechanical model
- elastic properties
- robotic arm
- robotic tasks
- obstacle avoidance
- mr images
- minimally invasive surgery
- inverse kinematics
- collision free
- automatic segmentation
- mass spring
- configuration space
- real time
- viewpoint
- control law
- high dimensional
- three dimensional
- haptic feedback
- high resolution
- input image