Cyclic Motion Control for Programmable Bevel-Tip Needles to Reduce Tissue Deformation.
Eloise MathesonRiccardo SecoliChristopher BurrowsAlexander LeibingerFerdinando Rodriguez y BaenaPublished in: J. Medical Robotics Res. (2019)
Keyphrases
- motion control
- soft tissue
- tissue deformation
- mobile robot
- minimally invasive
- finite element
- minimally invasive surgery
- medical images
- control system
- image guided
- intraoperative
- deformable models
- physical constraints
- autonomous navigation
- needle insertion
- robot control
- magnetic resonance
- autonomous robots
- control algorithm
- computer assisted
- dynamic environments
- image registration
- visual servoing
- automatic segmentation