Cyclic Motion Control for Programmable Bevel-Tip Needle 3D Steering: A Simulation Study.
Eloise MathesonThomas WattsRiccardo SecoliFerdinando Rodriguez y BaenaPublished in: ROBIO (2018)
Keyphrases
- simulation study
- motion control
- minimally invasive
- soft tissue
- mobile robot
- control system
- needle insertion
- autonomous navigation
- physical constraints
- autonomous robots
- robot control
- finite element
- kinematic model
- position and orientation
- monte carlo
- visual servoing
- medical images
- control algorithm
- image guided
- x ray
- image registration
- intraoperative
- real world
- path planning