Semi-automatic needle steering system with robotic manipulator

Mariana C. Bernardes, Bruno V. Adorno, Philippe Poignet, Geovany A. Borges

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


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.
Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation
Number of pages6
ISBN (Electronic)9781467314046
ISBN (Print)9781467314039
Publication statusPublished - 28 Jun 2012


  • Manipulators
  • Medical robotics
  • Needles
  • Path planning
  • Steering systems


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