Development of a needle insertion end-effector for interventional radiology.

Hoseok Song Ilhwa Hong Minkyo Cho Heungsoon Lim Sung-Hyun Jung

Published in: ISR (2013)

Keyphrases

interventional radiology
needle insertion
force feedback
end effector
degrees of freedom
vision system
visual servoing
robot manipulators
inverse kinematics
soft tissue
visual feedback
control system
mobile robot