Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance.
Niravkumar A. PatelTim van KatwijkGang LiPedro MoreiraWeijian ShangSarthak MisraGregory S. FischerPublished in: EMBC (2015)
Keyphrases
- closed loop
- intraoperative
- intra operatively
- minimally invasive
- open loop
- computer assisted
- x ray
- control system
- control scheme
- control law
- image guided surgery
- pre operative
- feedback control
- magnetic resonance imaging
- ct data
- clinical applications
- beating heart
- medical images
- image guided
- medical imaging
- mr images
- position control
- prostate brachytherapy
- needle insertion
- tissue deformation
- computer tomography
- robot assisted
- magnetic resonance images
- surgical procedures
- minimally invasive surgery
- position and orientation
- imaging modalities
- fluoroscopic images
- magnetic resonance
- trajectory tracking
- operating room
- computer aided
- mri data