Towards synergistic control of hands-on needle insertion with automated needle steering for MRI-guided prostate interventions.
Marek WartenbergNiravkumar A. PatelGang LiGregory S. FischerPublished in: EMBC (2016)
Keyphrases
- needle insertion
- ultrasound guided
- interventional radiology
- prostate brachytherapy
- force feedback
- prostate biopsy
- visual feedback
- soft tissue
- transrectal ultrasound
- prostate cancer
- magnetic resonance imaging
- interaction model
- medical images
- control system
- mri data
- finite element model
- magnetic resonance images
- fully automated
- end effector
- virtual reality
- low contrast
- real time
- tissue deformation
- computer assisted
- mr images