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Robotic needle insertion: effects of friction and needle geometry.
Mark D. O'Leary
Christina Simone
Toshikatsu Washio
Kiyoshi Yoshinaka
Allison M. Okamura
Published in:
ICRA (2003)
Keyphrases
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needle insertion
ultrasound guided
prostate brachytherapy
soft tissue
interventional radiology
real time
interaction model
force feedback
three dimensional
tissue deformation
mobile robot
robotic systems
medical images
robot control
finite element model