Trajectory Planning for Abdominal Fine Needle Insertion Based on Insertion Angles.
Ryosuke TsumuraHiroyasu IwataPublished in: IEEE Robotics Autom. Lett. (2017)
Keyphrases
- trajectory planning
- needle insertion
- ultrasound guided
- motion planning
- obstacle avoidance
- robot manipulators
- path planning
- dynamic environments
- automatic segmentation
- soft tissue
- tissue deformation
- mobile robot
- interaction model
- surgical procedures
- fully automatic
- force feedback
- real time
- radio frequency
- medical images
- visual feedback
- degrees of freedom
- finite element model
- ct data
- fuzzy logic
- human body
- input output
- image sequences