Force Feedback Control of a Robotic Needle Insertion into Layered Soft Tissues.
TangWen YangLifang XiaoPanfei ChenHaifeng ZhuXingang ZhaoGuoli SongJianda HanWeiliang XuPublished in: M2VIP (2018)
Keyphrases
- force feedback
- needle insertion
- soft tissue deformation
- robotic arm
- soft tissue
- haptic feedback
- visual feedback
- virtual reality
- human operators
- end effector
- medical images
- haptic device
- degrees of freedom
- real time
- finite element
- robotic systems
- robot arm
- master slave
- visual servoing
- image processing
- motion planning
- magnetic resonance
- mobile robot
- tissue deformation
- deformable models
- three dimensional
- human subjects
- numerical simulations