The MIRIAM Robot: A Novel Robotic System for MR-Guided Needle Insertion in the Prostate.
Pedro MoreiraGert van de SteegThijs KrabbenJonathan ZandmanEdsko E. G. HekmanFerdinand van der HeijdenRonald BorraSarthak MisraPublished in: J. Medical Robotics Res. (2017)
Keyphrases
- robotic systems
- needle insertion
- soft tissue
- prostate brachytherapy
- prostate biopsy
- mobile robot
- autonomous robots
- magnetic resonance
- tissue deformation
- image guided
- medical images
- vision system
- multi robot
- mr images
- real robot
- interaction model
- minimally invasive surgery
- image registration
- intraoperative
- finite element
- force feedback
- image data
- deformable models
- visual feedback
- computer vision
- robot control
- clinical applications
- x ray
- prostate segmentation