Real-time needle steering in response to rolling vein deformation by a 9-DOF image-guided autonomous venipuncture robot.
Alvin I. ChenMax L. BalterTimothy J. MaguireMartin L. YarmushPublished in: IROS (2015)
Keyphrases
- image guided
- image guidance
- robot assisted
- minimally invasive
- tissue deformation
- real time
- prostate biopsy
- robotic systems
- intraoperative
- medical imaging
- needle insertion
- radiation therapy
- treatment planning
- path planning
- beating heart
- prostate cancer
- vision system
- force feedback
- mobile robot
- end effector
- minimally invasive surgery
- robotic manipulator
- live video
- imaging modalities
- robotic arm
- surgical procedures
- ultrasound images
- degrees of freedom
- video tracking
- motion planning
- image registration
- prostate brachytherapy
- position control
- visual feedback
- finite element
- soft tissue
- pose estimation
- position and orientation
- real environment
- medical images
- visual servoing