Semi-automatic needle steering system with robotic manipulator

被引：0
|
作者：
Bernardes, Mariana C. [1 ]
Adorno, Bruno V.
Poignet, Philippe [1 ]
Borges, Geovany A.
机构：
[1] Univ Montpellier 2, LIRMM, 161 Rue Ada, F-34095 Montpellier, France
来源：
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2012年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a semi-automatic system for robotically assisted 2D needle steering that uses duty-cycling to perform insertions with arcs of adjustable curvature radius. It combines image feedback manually provided by an operator with an adaptive path planning strategy to compensate for system uncertainties and changes in the workspace during the procedure. Experimental results are presented to validate the proposed platform.
引用
收藏
页码：1595 / 1600
页数：6
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