A Surgical Platform for Intracerebral Hemorrhage Robotic Evacuation (ASPIHRE): A Non-metallic MR-guided Concentric Tube Robot.
Anthony L. GundermanSaikat SenguptaEleni SiampliDimitri SigounasChristopher KellnerChima O. OluigboKarun SharmaIsuru S. GodageKevin ClearyYue ChenPublished in: CoRR (2022)
Keyphrases
- robotic platform
- mobile robot
- minimally invasive
- robotic systems
- surgical robot
- experimental platform
- minimally invasive surgery
- manipulation tasks
- real time
- robot assisted
- autonomous robots
- robotic arm
- prostate biopsy
- tactile sensing
- image guided
- hand eye
- robot programming
- brain images
- magnetic resonance
- robotic tasks
- cellular automata
- service robots
- robot navigation
- soft tissue
- medical images
- surgical instruments
- image guided surgery
- path planning
- human robot interaction
- real robot
- clinical applications
- mr images
- surgical training
- robot control
- robot behavior
- image registration
- vision system
- multi agent
- parallel robot
- augmented reality
- ct images
- end effector
- robot motion
- multi robot
- image data
- virtual reality
- medical imaging
- intraoperative
- motion planning
- multiple robots
- robot arm
- object manipulation
- robot manipulators
- imitation learning
- visual servoing
- computerized tomography
- magnetic resonance images
- humanoid robot
- robot teams
- master slave
- robotic manipulator