Development of a coordinated controller for robot-assisted shape memory alloy actuated needle for prostate brachytherapy.
Felix Orlando Maria JosephKarly FranzYaxin LuanYan-Jiang ZhaoNaresh V. DatlaParsaoran HutapeaAdam DickerYan YuTarun Kanti PodderPublished in: EMBC (2014)
Keyphrases
- robot assisted
- prostate brachytherapy
- needle insertion
- minimally invasive
- force feedback
- image guided
- control scheme
- control law
- surgical procedures
- intraoperative
- real time
- dynamic environments
- control system
- image segmentation
- computer aided
- closed loop
- soft tissue
- virtual environment
- image analysis
- reinforcement learning