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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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Contributor : Philippe Poignet Connect in order to contact the contributor
Submitted on : Monday, April 15, 2013 - 3:14:47 PM
Last modification on : Friday, October 22, 2021 - 3:07:20 PM




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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