Reconfigurable MRI-guided robotic surgical manipulator: Prostate brachytherapy and neurosurgery applications.
Hao SuIulian IordachitaXiaoan YanGregory A. ColeGregory S. FischerPublished in: EMBC (2011)
Keyphrases
- intraoperative
- prostate brachytherapy
- robotic arm
- image guided
- x ray
- pre operative
- robot assisted
- computer assisted
- magnetic resonance imaging
- minimally invasive surgery
- medical imaging
- minimally invasive
- degrees of freedom
- operating room
- magnetic resonance images
- clinical applications
- ct data
- medical images
- patient data
- beating heart
- tissue deformation
- robotic systems
- imaging modalities
- transrectal ultrasound
- mri data
- target registration error
- real time
- deep brain stimulation
- control system
- mr images
- mobile robot
- master slave
- fully automatic
- surgical procedures
- brain tissue
- vision system
- inverse kinematics
- robot manipulators
- manual segmentation
- motion planning
- path planning
- deep brain