DocumentCode
2417851
Title
Semi-automatic needle steering system with robotic manipulator
Author
Bernardes, Mariana C. ; Adorno, Bruno V. ; Poignet, Philippe ; Borges, Geovany A.
Author_Institution
LIRMM, Univ. Montpellier 2, Montpellier, France
fYear
2012
fDate
14-18 May 2012
Firstpage
1595
Lastpage
1600
Abstract
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.
Keywords
manipulators; medical robotics; needles; path planning; steering systems; adaptive path planning strategy; adjustable curvature radius; duty-cycling; image feedback; robotic manipulator; semi-automatic needle steering system; system uncertainties; Legged locomotion; Manipulators; Needles; Planning; Robot kinematics; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location
Saint Paul, MN
ISSN
1050-4729
Print_ISBN
978-1-4673-1403-9
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ICRA.2012.6225185
Filename
6225185
Link To Document