Towards a teleoperated needle driver robot with haptic feedback for RFA of breast tumors under continuous MRI.
Rebecca KokesKevin ListerRao P. GullapalliBao ZhangAlan MacMillanHoward RichardJaydev P. DesaiPublished in: Medical Image Anal. (2009)
Keyphrases
- force feedback
- haptic feedback
- breast tumors
- virtual reality
- needle insertion
- end effector
- visual feedback
- ultrasound images
- magnetic resonance imaging
- robotic arm
- numerical data
- medical images
- robot arm
- automated detection
- degrees of freedom
- digital mammograms
- ultrasonic images
- human operators
- fractal analysis
- visual servoing
- robot manipulators
- breast cancer
- medical imaging
- mr images
- virtual environment
- inverse kinematics
- virtual space
- real time
- human computer interface
- closed loop
- image analysis
- computer vision