Sensorless Motion Planning for Medical Needle Insertion in Deformable Tissues.
Ron AlterovitzKenneth Y. GoldbergJean PouliotI-Chow HsuPublished in: IEEE Trans. Inf. Technol. Biomed. (2009)
Keyphrases
- motion planning
- needle insertion
- ultrasound guided
- medical imaging
- degrees of freedom
- medical images
- soft tissue
- path planning
- mobile robot
- humanoid robot
- deformable models
- robot arm
- robotic arm
- medical data
- multi robot
- image analysis
- tissue deformation
- control algorithm
- control law
- configuration space
- inverse kinematics
- interaction model
- x ray
- collision free
- force feedback
- dynamic environments
- multi modal
- finite element
- visual feedback
- pose estimation