Collaborative Robotic Biopsy with Trajectory Guidance and Needle Tip Force Feedback.
Robin MielingMaximilian NeidhardtSarah LatusCarolin StapperStefan GerlachInga KniepAxel HeinemannBenjamin OndruschkaAlexander SchlaeferPublished in: ICRA (2023)
Keyphrases
- force feedback
- needle insertion
- contact force
- ultrasound guided
- robotic arm
- robot assisted
- virtual reality
- human operators
- degrees of freedom
- end effector
- haptic device
- visual feedback
- collaborative learning
- mobile robot
- robot arm
- motion planning
- configuration space
- real time
- human computer interaction
- video sequences
- three dimensional