Haptic Teleoperation of Flexible Needles Combining 3D Ultrasound Guidance and Needle Tip Force Feedback.
Marco AggraviDaniel A. L. EstimaAlexandre KrupaSarthak MisraClaudio PacchierottiPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- force feedback
- virtual reality
- robot assisted
- haptic device
- contact force
- haptic feedback
- end effector
- robot arm
- visual feedback
- needle insertion
- inverse kinematics
- robotic arm
- virtual space
- human operators
- position and orientation
- virtual world
- master slave
- image sequences
- beating heart
- soft tissue
- vision system
- medical images
- user interface