3D haptic rendering of tissues for epidural needle insertion using an electro-pneumatic 7 degrees of freedom device.
Pierre-Jean AlesNicolas HerzigArnaud LelevéRichard MoreauChristian BauerPublished in: IROS (2016)
Keyphrases
- degrees of freedom
- force feedback
- needle insertion
- end effector
- robotic arm
- haptic feedback
- motion tracking
- pose estimation
- motion planning
- virtual reality
- computer graphics
- interventional radiology
- real time
- path planning
- joint angles
- minimally invasive surgery
- medical images
- robot arm
- visual feedback
- configuration space
- contact force
- medical imaging
- face recognition
- image processing