Closed-loop 3D motion modeling and control of a steerable needle for soft tissue surgery.
Riccardo SecoliFerdinando Rodriguez y BaenaPublished in: ICRA (2013)
Keyphrases
- soft tissue
- closed loop
- open loop
- soft tissue deformation
- control system
- feedback control
- minimally invasive surgery
- medical images
- finite element
- guaranteed cost
- surgical simulation
- control loop
- control scheme
- disturbance rejection
- control law
- trajectory tracking
- feedback controller
- deformable models
- surgical tools
- magnetic resonance
- force control
- reference trajectory
- needle insertion
- position control
- robotic assisted
- tissue deformation
- image registration
- inverted pendulum
- tracking error
- maxillofacial surgery
- control strategy
- external disturbances
- computer assisted
- automatic segmentation
- minimally invasive
- pid controller
- adaptive control
- robot assisted
- control strategies
- control method
- haptic feedback
- intraoperative
- image sequences
- force feedback
- mr images