Dual-robot ultrasound-guided needle placement: closing the planning-imaging-action loop.
Risto KojcevBernhard FuerstOliver ZettinigJavad FotouhiSing Chun LeeBenjamin FrischRussell H. TaylorEdoardo SinibaldiNassir NavabPublished in: Int. J. Comput. Assist. Radiol. Surg. (2016)
Keyphrases
- ultrasound guided
- needle insertion
- real time
- mobile robot
- motion planning
- force feedback
- beating heart
- prostate brachytherapy
- image processing
- humanoid robot
- vision system
- mitral valve
- tissue deformation
- multi robot
- prostate cancer
- image analysis
- high resolution
- collision free
- path planning
- image segmentation
- end effector
- clinical applications
- deformable models
- visual feedback
- robot assisted
- inverse kinematics
- robot arm
- human operators