Semi-automatic needle steering system with robotic manipulator

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.
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, May 2012, St Paul, United States. pp.1595-1600, 2012, 〈10.1109/ICRA.2012.6225185〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00813394
Contributeur : Philippe Poignet <>
Soumis le : lundi 15 avril 2013 - 15:14:47
Dernière modification le : jeudi 24 mai 2018 - 15:59:21

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Mariana Bernardes, Bruno Vilhena Adorno, Philippe Poignet, Geovany Borges. Semi-automatic needle steering system with robotic manipulator. ICRA: International Conference on Robotics and Automation, May 2012, St Paul, United States. pp.1595-1600, 2012, 〈10.1109/ICRA.2012.6225185〉. 〈lirmm-00813394〉

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