Feedback control for steering needles through 3D deformable tissue using helical paths.
Kris K. HauserRon AlterovitzNuttapong ChentanezAllison M. OkamuraKenneth Y. GoldbergPublished in: Robotics: Science and Systems (2009)
Keyphrases
- feedback control
- soft tissue
- deformable models
- closed loop
- adaptive control
- optimal control
- open loop
- fractional order
- inverted pendulum
- three dimensional
- medical images
- networked control systems
- shortest path
- linear time invariant
- magnetic resonance
- image analysis
- finite element
- control method
- mr images
- electron microscopy
- image registration
- control system
- feedback controller
- autonomous control
- pid controller
- ct scans
- pose estimation
- finite element model
- dynamic programming
- image segmentation