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Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots
Robot-assisted medical interventions, such as robotic catheter ablation, often require the robot to perform tasks on a tissue surface. This paper presents a task-space motion planning method that generates actuation trajectories which steer the end- effector of the MRI-actuated robot along desired t...
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| Publicat a: | IEEE Robot Autom Lett |
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| Autors principals: | , , , |
| Format: | Artigo |
| Idioma: | Inglês |
| Publicat: |
2018
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| Matèries: | |
| Accés en línia: | https://ncbi.nlm.nih.gov/pmc/articles/PMC6287617/ https://ncbi.nlm.nih.gov/pubmed/30547093 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/LRA.2018.2881987 |
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