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Forces and torques during robotic needle insertion to human vertebra.
Kiyoshi Matsumiya
Yasuyuki Momoi
Etsuko Kobayashi
Nobuhiko Sugano
Kazuo Yonenobu
Hiroshi Inada
Takayuki Tsuji
Ichiro Sakuma
Published in:
CARS (2003)
Keyphrases
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needle insertion
contact force
inverse dynamics
ultrasound guided
human operators
force feedback
mobile robot
control algorithm
real time
deformable models
robotic systems
finite element model
dynamic model
active shape model
statistical shape model