Model-Based Needle Steering in Soft Tissue via Lateral Needle Actuation.
Thomas LehmannRonald SlobodaNawaid UsmaniMahdi TavakoliPublished in: IEEE Robotics Autom. Lett. (2018)
Keyphrases
- soft tissue
- medical images
- needle insertion
- finite element
- magnetic resonance
- deformable models
- maxillofacial surgery
- soft tissue deformation
- image registration
- elastic properties
- automatic segmentation
- prostate brachytherapy
- minimally invasive surgery
- mr images
- imaging modalities
- material properties
- computer vision
- finite element analysis
- haptic feedback
- mass spring