On the use of discrete steps in robot-aided flexible needle insertion.
Andre A. GeraldesMurilo M. MarinhoMariana C. BernardesAntônio Padilha Lanari BóGeovany A. BorgesPublished in: EMBC (2013)
Keyphrases
- needle insertion
- ultrasound guided
- mobile robot
- force feedback
- vision system
- path planning
- prostate brachytherapy
- robotic systems
- multi robot
- humanoid robot
- visual feedback
- robot manipulators
- autonomous robots
- visual servoing
- fully automatic
- inverse kinematics
- robotic arm
- end effector
- position and orientation
- soft tissue
- robot assisted
- motion planning
- real time