3D ultrasound-guided robotic steering of a flexible needle via visual servoing.
Pierre ChatelainAlexandre KrupaNassir NavabPublished in: ICRA (2015)
Keyphrases
- visual servoing
- mobile robot
- robotic arm
- robotic manipulator
- image based visual servoing
- vision system
- parallel robot
- robot control
- force feedback
- robot motion
- end effector
- control law
- visual feedback
- autonomous robots
- camera motion
- path planning
- robotic systems
- image space
- dynamic programming
- prostate biopsy
- minimally invasive
- three dimensional
- model free
- multi modal
- beating heart
- degrees of freedom
- trajectory tracking
- high dimensional