Needle-tissue interaction force state estimation for robotic surgical suturing.
Russell C. JacksonViraj DesaiJean P. CastilloMurat Cenk CavusogluPublished in: IROS (2016)
Keyphrases
- surgical robot
- state estimation
- robot assisted
- minimally invasive surgery
- minimally invasive
- soft tissue
- force feedback
- degrees of freedom
- kalman filter
- kalman filtering
- particle filter
- image guided
- tissue deformation
- dynamic systems
- medical images
- position control
- intraoperative
- contact force
- needle insertion
- particle filtering
- visual tracking
- finite element
- human computer interaction
- visual feedback
- object tracking
- augmented reality
- clinical applications
- vision system
- virtual reality
- human operators
- dynamic programming
- deformable models