A Novel Manipulator for 3D Ultrasound Guided Percutaneous Needle Insertion.
Harmanpreet BassanT. HayesRajnikant V. PatelMehrdad MoallemPublished in: ICRA (2007)
Keyphrases
- needle insertion
- ultrasound guided
- prostate brachytherapy
- force feedback
- soft tissue
- end effector
- interventional radiology
- degrees of freedom
- interaction model
- transrectal ultrasound
- ultrasound images
- vision system
- inverse kinematics
- robot manipulators
- robotic arm
- finite element model
- visual feedback
- tissue deformation
- master slave
- image registration