Teleoperation system with hybrid pneumatic-piezoelectric actuation for MRI-guided needle insertion with haptic feedback.
Weijian ShangHao SuGang LiGregory S. FischerPublished in: IROS (2013)
Keyphrases
- haptic feedback
- needle insertion
- force feedback
- degrees of freedom
- end effector
- robotic arm
- soft tissue deformation
- robot arm
- magnetic resonance imaging
- medical images
- soft tissue
- virtual reality
- virtual environment
- motion planning
- magnetic resonance images
- control system
- interaction model
- visual feedback
- real time
- mri data
- path planning
- radio frequency
- closed loop
- mr images