Robot-to-image Registration with Geometric Marker for CT-guided Robotic Needle Insertion.
Iori IkedaKai SekineRyosuke TsumuraHiroyasu IwataPublished in: ICRA (2021)
Keyphrases
- image registration
- needle insertion
- mobile robot
- soft tissue
- interventional radiology
- robotic systems
- medical images
- medical imaging
- autonomous robots
- ultrasound guided
- robotic arm
- force feedback
- robot control
- computed tomography
- real robot
- real time
- mutual information
- magnetic resonance
- ct images
- tissue deformation
- visual feedback
- multi robot
- path planning
- vision system
- visual servoing
- human operators
- image alignment
- x ray
- respiratory motion
- finite element
- robot manipulators
- image analysis
- registration errors
- image processing
- robot arm
- interaction model
- medical image analysis
- registration accuracy
- ct scans
- anatomical structures
- degrees of freedom
- deformable models
- ct data
- imaging modalities
- magnetic resonance imaging
- humanoid robot
- three dimensional
- target registration error
- image segmentation
- computer vision