Accurate Haptic Teleoperation on Soft Tissues through Slave Friction Compensation by Impedance Reflection.
Pauwel GoethalsGudrun De GersemMauro M. SetteDominiek ReynaertsPublished in: WHC (2007)
Keyphrases
- soft tissue
- force feedback
- master slave
- finite element
- surgical simulation
- soft tissue deformation
- medical images
- high fidelity
- haptic feedback
- virtual reality
- needle insertion
- magnetic resonance
- virtual environment
- deformable models
- real time
- haptic device
- automatic segmentation
- elastic properties
- contact force
- robotic arm
- image processing
- control system
- biomechanical model
- robotic manipulator
- image registration
- visual feedback
- finite element analysis
- augmented reality
- motion compensation