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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.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00813394
Contributor : Philippe Poignet <>
Submitted on : Monday, April 15, 2013 - 3:14:47 PM
Last modification on : Thursday, May 24, 2018 - 3:59:21 PM

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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, ⟨10.1109/ICRA.2012.6225185⟩. ⟨lirmm-00813394⟩

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