Recursive estimation of needle pose for control of 3D-ultrasound-guided robotic needle steering.
Troy K. AdebarAllison M. OkamuraPublished in: IROS (2014)
Keyphrases
- radio frequency ablation
- position control
- force feedback
- robotic systems
- needle insertion
- control system
- robot assisted
- robotic arm
- control method
- minimally invasive
- ultrasound guided
- robotic manipulator
- prostate biopsy
- control loop
- perception action
- d objects
- robot control
- visual feedback
- wheeled mobile robots
- soft tissue
- autonomous robots
- real time
- control strategy
- computer vision
- clinical workflow
- reinforcement learning
- mobile robot
- force control
- robot motion
- pose estimation
- virtual reality
- degrees of freedom
- control strategies