2D Ultrasound-Guided Visual Servoing for In-Plane Needle Tracking in Robot-Assisted Percutaneous Nephrolithotomy.
Hoorieh MazdaraniAlec CottonCarlos RossaPublished in: SMC (2023)
Keyphrases
- robot assisted
- visual servoing
- minimally invasive
- beating heart
- image guided
- force feedback
- needle insertion
- visual feedback
- end effector
- laparoscopic surgery
- prostate brachytherapy
- image based visual servoing
- vision system
- pre operative
- robotic arm
- mobile robot
- control law
- intraoperative
- tissue deformation
- real time
- minimally invasive surgery
- medical imaging
- camera motion
- augmented reality
- robot control
- image space
- three dimensional
- imaging modalities
- clinical applications
- closed loop
- computer vision
- degrees of freedom
- ct data
- control scheme
- computer assisted
- medical images