A 2-DOF Needle Insertion Device Using Inertial Piezoelectric Actuator.
Jie DengShenghui LiuYingxiang LiuLiang WangXiang GaoKai LiPublished in: IEEE Trans. Ind. Electron. (2022)
Keyphrases
- needle insertion
- force feedback
- interventional radiology
- ultrasound guided
- end effector
- prostate brachytherapy
- degrees of freedom
- robotic arm
- control system
- robot assisted
- dynamic model
- visual feedback
- robot manipulators
- soft tissue
- virtual reality
- pose estimation
- vision system
- interaction model
- closed loop
- tissue deformation
- image analysis