(2020) Robotic Needle Positioning Based on CT-Scan Images: Constrained Admittance Realization. Journal of Medical Robotics Research. ISSN 24249068 (ISSN)
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Abstract
In this paper, the application of a robotic arm for needle-based medical interventions under a preoperative CT-scan is investigated. The proposed setup consists of a robot manipulator with a customized needle guide mounted on its end-effector. A workflow that considers all the issues related to the registration and needle positioning algorithms is proposed. The so-called constrained admittance control approach is proposed to provide semi-autonomous positioning of the needle guide on the target path based on CT-scan images. The proposed algorithms are verified experimentally through phantom studies. © 2020 World Scientific Publishing Company.
| Item Type: | Article |
|---|---|
| Keywords: | admittance control impedance control Robotic needle positioning algorithm Article constrained admittance control human impedance preoperative period workflow x-ray computed tomography |
| Subjects: | WN Radiology. Diagnostic Imaging > WN 180-240 Diagnostic Imaging |
| Divisions: | Faculty of Paramedical > Department of Radiology |
| Journal or Publication Title: | Journal of Medical Robotics Research |
| Journal Index: | Scopus |
| Volume: | 5 |
| Number: | 3-4 |
| Identification Number: | https://doi.org/10.1142/S2424905X2150001X |
| ISSN: | 24249068 (ISSN) |
| Depositing User: | Zahra Otroj |
| URI: | http://eprints.mui.ac.ir/id/eprint/18173 |
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