Toward robotic needle steering in lung biopsy: a tendon-actuated approach.
Louis B. KratchmanMohammed M. RahmanJustin R. SaundersPhilip J. SwaneyRobert J. WebsterPublished in: Medical Imaging: Image-Guided Procedures (2011)
Keyphrases
- force control
- position control
- ultrasound guided
- needle insertion
- robot manipulators
- contact force
- control strategy
- closed loop
- real time
- radio frequency ablation
- ct images
- force feedback
- lung cancer
- prostate biopsy
- computed tomography images
- control law
- control scheme
- control system
- mobile robot
- ct scans
- finite element model
- robotic systems
- mitral valve
- chest radiographs
- lung disease
- ct data
- breast cancer
- image analysis
- mathematical model
- computer aided
- dynamic model
- control algorithm
- image guided