Towards Autonomous Robotic Biopsy - Design, Modeling and Control of a Robot for Needle Insertion of a Commercial Full Core Biopsy Instrument.
Seyed MohammadReza SajadiSeyed Mojtaba KarbasiHenrik BrunJim TørresenOle Jacob ElleKim MathiassenPublished in: Frontiers Robotics AI (2022)
Keyphrases
- ultrasound guided
- needle insertion
- autonomous robotic
- semi autonomous
- force feedback
- prostate brachytherapy
- interaction model
- real time
- computer aided
- robot manipulators
- visual feedback
- autonomous robots
- inverse kinematics
- fully autonomous
- robotic arm
- mobile robot
- control system
- end effector
- radio frequency
- soft tissue
- multi robot
- robotic systems
- computer assisted
- path planning
- mitral valve