Sunram 7: An MR Safe Robotic System for Breast Biopsy.
Harsh RanjanMarijn Van HiltenVincent GroenhuisJuan VerdeAlain GarciaSilvana PerrettaJeroen VeltmanFrançoise J. SiepelStefano StramigioliPublished in: IROS (2023)
Keyphrases
- robotic systems
- ultrasound guided
- breast mri
- prostate biopsy
- computer aided
- mobile robot
- magnetic resonance
- control architecture
- vision system
- needle insertion
- prostate cancer
- autonomous robots
- soft tissue
- image guided
- real time
- mr images
- magnetic resonance imaging
- medical images
- indoor environments
- dce mri
- robotic manipulator
- breast cancer
- image registration
- imitation learning
- object manipulation
- contrast enhanced
- radiation therapy
- cancer detection
- minimally invasive surgery
- digital mammograms
- robot behavior
- clinical applications
- mitral valve
- genetic algorithm