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Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy.

Animesh GargTimmy SiauwDmitry BerensonJ. Adam M. CunhaI-Chow HsuJean PouliotDan StoianoviciKen Goldberg
Published in: IEEE Trans Autom. Sci. Eng. (2013)
Keyphrases
  • open loop
  • closed loop
  • feedback control
  • force feedback
  • soft tissue
  • needle insertion
  • control system
  • mobile robot
  • humanoid robot
  • real time
  • robotic systems
  • inverted pendulum
  • prostate cancer
  • visual feedback