A virtual sensor for needle deflection estimation during soft-tissue needle insertion.
Thomas LehmannCarlos RossaNawaid UsmaniRonald SlobodaMahdi TavakoliPublished in: ICRA (2015)
Keyphrases
- needle insertion
- soft tissue
- ultrasound guided
- prostate brachytherapy
- medical images
- force feedback
- haptic feedback
- soft tissue deformation
- finite element
- magnetic resonance
- deformable models
- tissue deformation
- image registration
- virtual environment
- virtual reality
- interaction model
- minimally invasive surgery
- virtual world
- real time
- interventional radiology
- visual feedback
- mr images
- end effector
- automatic segmentation
- augmented reality
- image data