A Direct Drive Parallel Plane Piezoelectric Needle Positioning Robot for MRI Guided Intraspinal Injection.
Waiman MeinholdDaniel Enrique MartinezJohn N. OshinskiAi-Ping HuJun UedaPublished in: IEEE Trans. Biomed. Eng. (2021)
Keyphrases
- prostate biopsy
- direct drive
- image guided
- mobile robot
- cnc machine tools
- magnetic resonance imaging
- robotic manipulator
- robotic systems
- magnetic resonance images
- three dimensional
- path planning
- force feedback
- intensity distribution
- mr images
- autonomous robots
- robot manipulators
- humanoid robot
- magnetic resonance
- robot control
- robot arm
- inverse kinematics
- vision system
- medical images
- mri data
- position and orientation
- visual servoing
- medical imaging
- robot assisted
- needle insertion