Micro-grasping Forceps Manipulator for MR-Guided Neurosurgery.
Nobuhiko MiyataEtsuko KobayashiDaeyoung KimKen MasamuneIchiro SakumaNaoki YahagiTakayuki TsujiHiroshi InadaTakeyoshi DohiHiroshi IsekiKintomo TakakuraPublished in: MICCAI (1) (2002)
Keyphrases
- laparoscopic surgery
- image guided
- prostate biopsy
- robot assisted
- minimally invasive surgery
- intraoperative
- minimally invasive
- vision system
- medical imaging
- operating room
- brain shift
- prostate cancer
- brain tumors
- imaging modalities
- computer assisted
- magnetic resonance
- robotic arm
- master slave
- ct data
- x ray
- medical images
- image analysis
- mr images
- soft tissue
- brain tissue
- control system
- object manipulation
- human hand
- degrees of freedom
- manipulation tasks
- surgical procedures
- human robot interaction
- clinical applications
- control method
- magnetic resonance imaging
- visual feedback
- inverse kinematics
- robot manipulators
- cortical surface
- three dimensional