Force-driven robotic drag control for freehand 3D ultrasound-guided robot-assisted percutaneous surgery.
Yinshan SunDongmei WuZhijiang DuLining SunPublished in: ROBIO (2009)
Keyphrases
- robot assisted
- force feedback
- surgical robot
- image guided
- robotic arm
- laparoscopic surgery
- minimally invasive
- visual feedback
- needle insertion
- end effector
- coronary artery bypass
- human operators
- virtual reality
- degrees of freedom
- minimally invasive surgery
- robotic systems
- beating heart
- real time
- master slave
- prostate brachytherapy
- control method
- mobile robot
- vision system
- pre operative
- control strategy
- intraoperative
- augmented reality
- cochlear implant
- visual servoing
- surgical procedures
- prostate cancer
- motion planning
- control system