ICRA 2012 Paper Abstract


Paper TuD06.3

Bernardes, Mariana Costa (University of Montpellier 2 / CNRS - LIRMM), Adorno, Bruno Vilhena (Federal University of Minas Gerais (UFMG)), Poignet, Philippe (LIRMM UMR 5506 CNRS UM2), Borges, Geovany Araujo (Universidade de Brasilia)

Semi-automatic needle steering system with robotic manipulator

Scheduled for presentation during the Regular Session "Needle Steering" (TuD06), Tuesday, May 15, 2012, 17:00−17:15, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on May 21, 2018

Keywords Medical Robots and Systems


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.



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