Ultrasound-guided robot for flexible needle steering

IEEE Transactions on Biomedical Engineering

Volumn 57, Issue 4, 2010, Pages 799-805

  Neubach, Zipi ^a   Shoham, Moshe ^a  

^a TECHNION ISRAEL INSTITUTE OF TECHNOLOGY   (Israel)

Author keywords

Needle imaging; Needle steering; Robots; Tissue stiffness; Ultrasound

Indexed keywords

ALGORITHMS; INVERSE KINEMATICS; PHYSIOLOGICAL MODELS; ROBOTICS; ROBOTS; STIFFNESS; TISSUE; ULTRASONICS;

CLOSED-LOOP; CLOSED-LOOP EXPERIMENTS; CONTROL ALGORITHMS; FLEXIBLE NEEDLE; INHERENT LIMITATIONS; INVERSE KINEMATICS ALGORITHMS; MEDICAL PROCEDURES; NEEDLE INSERTION; NEEDLE PLACEMENT; NEEDLE STEERING; NOVEL METHODS; POSITIONAL ACCURACY; ROBOTIC MANIPULATION; ROBOTIC SYSTEMS; SOFT TISSUE; STIFF TISSUES; TISSUE DISPLACEMENT; TISSUE STIFFNESS; TRACKING ERRORS; ULTRASOUND IMAGES; ULTRASOUND IMAGING; VARYING STIFFNESS; VIRTUAL SPRING;

NEEDLES;

ALGORITHM; ARTICLE; ECHOGRAPHY; EXPERIMENTAL MODEL; KINEMATICS; NEEDLE; NEEDLE STEERING; REAL TIME ECHOGRAPHY; ROBOTICS; SIMULATION; SURGICAL TECHNIQUE; TISSUE CHARACTERIZATION; BIOLOGICAL MODEL; BIOMECHANICS; COMPUTER ASSISTED SURGERY; DEVICES; HUMAN; IMAGE PROCESSING; IMAGE QUALITY; PLIABILITY; PROCEDURES;

ALGORITHMS; BIOMECHANICAL PHENOMENA; HUMANS; IMAGE PROCESSING, COMPUTER-ASSISTED; MODELS, BIOLOGICAL; NEEDLES; PHANTOMS, IMAGING; PLIABILITY; ROBOTICS; SURGERY, COMPUTER-ASSISTED; ULTRASONOGRAPHY;

EID: 77950210127     PISSN: 00189294     EISSN: None     Source Type: Journal    
DOI: 10.1109/TBME.2009.2030169     Document Type: Article

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