An image-guided robot for needle insertion in small animal. Accurate needle positioning using visual servoing.
Ahmed AyadiBernard BaylePierre GraeblingJacques GangloffPublished in: IROS (2008)
Keyphrases
- visual servoing
- needle insertion
- image guided
- small animal
- tissue deformation
- visual feedback
- force feedback
- cone beam ct
- mobile robot
- end effector
- vision system
- prostate brachytherapy
- robot assisted
- robot control
- minimally invasive
- medical imaging
- robotic arm
- intraoperative
- camera motion
- treatment planning
- image space
- imaging modalities
- prostate cancer
- ct data
- control law
- pre operative
- minimally invasive surgery
- virtual reality
- real time
- soft tissue
- medical images
- image data
- interaction model
- magnetic resonance images
- radiation therapy
- motion planning
- medical image analysis
- surgical procedures
- x ray
- control system