Development of Needle Guide Unit Considering Buckling Bone-Perforation Control Strategy Based on Computed Tomography-Guided Needle Insertion Robot.
Yoshinobu TakahashiKoki IzumiRyohei SaitoIori IkedaRyosuke TsumuraHiroyasu IwataPublished in: EMBC (2022)
Keyphrases
- control strategy
- needle insertion
- computed tomography
- ultrasound guided
- ct images
- medical images
- three dimensional
- ct scans
- control system
- force feedback
- mathematical model
- soft tissue
- image reconstruction
- control strategies
- control algorithm
- medical imaging
- finite element model
- mobile robot
- control scheme
- real time
- control method
- ct data
- robot manipulators
- position and orientation
- control law
- robotic systems
- visual feedback
- deformable models
- image registration
- interaction model
- image analysis
- mr images