A Variable Stiffness Robotic Probe for Soft Tissue Palpation.
Nicolas HerzigPerla MaiolinoFumiya IidaD. P. Thrishantha NanayakkaraPublished in: IEEE Robotics Autom. Lett. (2018)
Keyphrases
- soft tissue
- finite element
- medical images
- contact force
- finite element analysis
- soft tissue deformation
- intraoperative
- magnetic resonance
- finite element model
- deformable models
- maxillofacial surgery
- transrectal ultrasound
- robotic systems
- image registration
- minimally invasive surgery
- real time
- mass spring
- material properties
- mobile robot
- position control
- surgical simulation
- mass spring model
- automatic segmentation
- computer assisted
- x ray
- pattern recognition
- three dimensional
- computer vision