Micromanipulation in Surgery: Autonomous Needle Insertion Inside the Eye for Targeted Drug Delivery.
Ji Woong KimPeiyao ZhangPeter GehlbachIulian IordachitaMarin KobilarovPublished in: CoRR (2023)
Keyphrases
- needle insertion
- soft tissue deformation
- haptic feedback
- force feedback
- ultrasound guided
- prostate brachytherapy
- tissue deformation
- robot assisted
- soft tissue
- intraoperative
- interventional radiology
- beating heart
- real time
- visual feedback
- minimally invasive
- image guided
- computer assisted
- eye gaze
- virtual reality
- eye movements
- robotic systems
- interaction model
- finite element
- robotic assisted
- minimally invasive surgery
- x ray
- virtual environment
- deformable models
- gaze contingent
- clinical trials
- image data
- multi agent systems
- medical images
- image segmentation
- eye tracking
- cardiac motion
- robotic arm
- end effector
- visual field
- eye tracker