Needle Tip Pose Estimation for Ultrasound-Guided Steerable Flexible Needle With a Complicated Trajectory in Soft Tissue.
Yan-Jiang ZhaoChao WenYongde ZhangHe ZhangPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- needle insertion
- pose estimation
- ultrasound guided
- soft tissue
- position and orientation
- prostate brachytherapy
- medical images
- finite element
- degrees of freedom
- human body
- d objects
- computer vision
- magnetic resonance
- tissue deformation
- body parts
- deformable models
- human pose
- image registration
- mr images
- feature points
- interaction model
- force feedback
- three dimensional
- minimally invasive surgery
- virtual environment
- user interface
- image sequences