Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion

Intra-operative imaging is sometimes available to assist needle biopsy, but typical open-loop insertion does not account for unmodeled needle deflection or target shift. Closed-loop image-guided compensation for deviation from an initial straight-line trajectory through rotational control of an asym...

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Udgivet i:Ann Biomed Eng
Main Authors: Wartenberg, Marek, Schornak, Joseph, Gandomi, Katie, Carvalho, Paulo, Nycz, Chris, Patel, Niravkumar, Iordachita, Iulian, Tempany, Clare, Hata, Nobuhiko, Tokuda, Junichi, Fischer, Gregory S.
Format: Artigo
Sprog:Inglês
Udgivet: 2018
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Article
Online adgang:https://ncbi.nlm.nih.gov/pmc/articles/PMC6319385/
https://ncbi.nlm.nih.gov/pubmed/29926303
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1007/s10439-018-2070-2
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