Adaptive control of a master-slave system for teleoperated needle insertion under MRI-guidance.
Enrico FrancoMihailo RisticPublished in: MED (2015)
Keyphrases
- adaptive control
- master slave
- needle insertion
- robotic arm
- force feedback
- magnetic resonance imaging
- visual feedback
- nonlinear systems
- control method
- prostate brachytherapy
- medical images
- robot assisted
- control law
- soft tissue
- magnetic resonance images
- visual servoing
- mr images
- minimally invasive surgery
- tissue deformation
- mri data
- virtual reality
- dynamic environments
- reinforcement learning
- medical imaging
- interaction model
- robot arm
- manual segmentation
- real time
- closed loop
- control system
- computer vision