Optical Coherence Tomography Guided Robotic Device for Autonomous Needle Insertion in Cornea Transplant Surgery.
Shoujing GuoNicolas R. SarfarazWilliam G. GensheimerAxel KriegerJin U. KangPublished in: IROS (2019)
Keyphrases
- force feedback
- optical coherence tomography
- needle insertion
- robotic arm
- interventional radiology
- robotic systems
- human operators
- robot assisted
- virtual reality
- imaging modalities
- tissue deformation
- visual feedback
- retinal images
- degrees of freedom
- end effector
- mobile robot
- intraoperative
- real time
- eye tracking
- vision system
- minimally invasive
- visual servoing
- interaction model
- coronary artery
- virtual environment
- soft tissue
- three dimensional