Toward a Meso-Scale SMA-Actuated MRI-Compatible Neurosurgical Robot.
Mingyen HoAlan B. McMillanJ. Marc SimardRao P. GullapalliJaydev P. DesaiPublished in: IEEE Trans. Robotics (2012)
Keyphrases
- mobile robot
- magnetic resonance imaging
- force control
- brain tissue
- medical images
- robot navigation
- human robot interaction
- autonomous robots
- magnetic resonance images
- mri data
- robot manipulators
- humanoid robot
- robot control
- control scheme
- robot arm
- vision system
- scale space
- mri images
- visual servoing
- open loop
- obstacle avoidance
- control law
- intraoperative
- path planning
- mr images
- robotic systems
- closed loop
- medical imaging
- high resolution