Tracking and position control of an MRI-powered needle-insertion robot.
Christos BergelesLei QinPanagiotis VartholomeosPierre E. DupontPublished in: EMBC (2012)
Keyphrases
- position control
- force control
- needle insertion
- robotic manipulator
- control scheme
- end effector
- robot arm
- closed loop
- force feedback
- tissue deformation
- real time
- mobile robot
- control system
- magnetic resonance imaging
- degrees of freedom
- robot manipulators
- control strategies
- control architecture
- medical images
- inverse kinematics
- soft tissue
- vision system
- intraoperative
- beating heart
- robotic arm
- control law
- joint angles
- pid controller
- dynamic model
- control strategy
- mr images
- minimally invasive surgery
- visual servoing
- path planning
- moving objects