Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles.
Ron AlterovitzKenneth Y. GoldbergAllison M. OkamuraPublished in: ICRA (2005)
Keyphrases
- soft tissue
- needle insertion
- soft tissue deformation
- medical images
- finite element
- prostate brachytherapy
- tissue deformation
- magnetic resonance
- deformable models
- image registration
- haptic feedback
- minimally invasive surgery
- automatic segmentation
- collision free
- medical image analysis
- motion planning
- real time
- position and orientation
- anatomical structures
- magnetic resonance imaging
- image analysis
- numerical simulations
- medical imaging
- image segmentation