Title :
Semi-automatic needle steering system with robotic manipulator
Author :
Bernardes, Mariana C. ; Adorno, Bruno V. ; Poignet, Philippe ; Borges, Geovany A.
Author_Institution :
LIRMM, Univ. Montpellier 2, Montpellier, France
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.
Keywords :
manipulators; medical robotics; needles; path planning; steering systems; adaptive path planning strategy; adjustable curvature radius; duty-cycling; image feedback; robotic manipulator; semi-automatic needle steering system; system uncertainties; Legged locomotion; Manipulators; Needles; Planning; Robot kinematics; Trajectory;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6225185
