Guidance of a steerable cannula robot in soft tissue using preoperative imaging and conoscopic surface contour sensing.
Ray A. LathropD. Caleb RuckerRobert J. Webster IIIPublished in: ICRA (2010)
Keyphrases
- soft tissue
- intra operatively
- intraoperative
- magnetic resonance
- soft tissue deformation
- medical images
- minimally invasive surgery
- finite element
- tissue deformation
- material properties
- elastic properties
- mr images
- mobile robot
- computer assisted
- maxillofacial surgery
- image registration
- clinical applications
- deformable models
- pre operative
- medical imaging
- x ray
- vision system
- optical coherence tomography
- mass spring
- humanoid robot
- image analysis
- path planning
- image data
- needle insertion
- real time
- motion planning
- surgical procedures
- ct data
- reconstruction process
- imaging modalities
- three dimensional
- operating room
- image guided surgery
- mass spring model
- image guided
- minimally invasive
- high resolution
- image segmentation
- position and orientation
- cardiac motion
- robot arm
- visual servoing
- robot control
- automatic segmentation
- robotic systems
- d objects
- image processing