Soft robotic manipulator for intraoperative MRI-guided transoral laser microsurgery.
Ge FangMarco C. K. ChowJustin D. L. HoZhuoliang HeKui WangT. C. NgJames K. H. TsoiPo-Ling ChanHing-Chiu ChangDanny Tat-Ming ChanYun-hui LiuF. Christopher HolsingerJason Ying-Kuen ChanKa-Wai KwokPublished in: Sci. Robotics (2021)
Keyphrases
- intraoperative
- robotic manipulator
- x ray
- computer assisted
- magnetic resonance imaging
- control scheme
- robotic systems
- degrees of freedom
- biomechanical model
- image guided
- magnetic resonance images
- medical imaging
- pre operative
- ct data
- mri data
- beating heart
- patient data
- minimally invasive
- visual servoing
- medical images
- control system
- imaging modalities
- end effector
- high resolution
- mr images
- prostate brachytherapy
- computer aided
- white matter
- mri scans
- robot manipulators
- mr imaging
- vision system
- real time
- intra operatively