Needle steering for 3D TRUS-guided robot-aided brachytherapy.
Gang WanZhouPing WeiLori GardiDónal B. DowneyAaron FensterPublished in: CARS (2004)
Keyphrases
- needle insertion
- soft tissue
- force feedback
- robot assisted
- mobile robot
- prostate brachytherapy
- vision system
- ultrasound guided
- human robot interaction
- position and orientation
- medical images
- autonomous robots
- robot navigation
- end effector
- humanoid robot
- multi robot
- robotic systems
- prostate cancer
- path planning
- prostate biopsy
- virtual reality
- experimental platform
- deformable models
- simulated robot
- robot manipulators
- image guided
- finite element
- magnetic resonance
- robotic arm
- minimally invasive
- computer vision
- robot soccer
- visual feedback
- service robots
- computer assisted
- obstacle avoidance
- motion planning