Needle Guiding Robot for MR-guided Microwave Thermotherapy of Liver Tumor using Motorized Remote-Center-of-Motion Constraint.
Nobuhiko HataRyuji HashimotoJunichi TokudaShigeo MorikawaPublished in: ICRA (2005)
Keyphrases
- organ motion
- prostate biopsy
- radio frequency ablation
- magnetic resonance
- humanoid robot
- contrast enhanced
- motion control
- physical constraints
- motion correction
- image guided
- mobile robot
- motion planning
- sagittal plane
- mr images
- minimally invasive
- treatment planning
- position and orientation
- parallel robot
- end effector
- brain tumor segmentation
- brain tumors
- inverse kinematics
- robot motion
- tissue deformation
- mr imaging
- autonomous navigation
- medical images
- control signals
- robot arm
- configuration space
- cardiac motion
- image sequences
- motion estimation
- clinical applications
- image registration
- ct images
- optical flow
- path planning
- breast cancer
- visual servoing
- dce mri
- camera motion
- soft tissue
- motion model
- clinical studies
- motion artifacts
- robot assisted
- mri data
- force feedback
- human motion
- temperature field
- accurate registration
- deformable models
- degrees of freedom
- beating heart
- robot manipulators