Semi-automatic needle steering system with robotic manipulator

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

doi:10.1109/icra.2012.6225185

Semi-automatic needle steering system with robotic manipulator

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

EEE - Academic & Research

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Automation
Publisher	IEEE
Pages	1595-1600
Number of pages	6
ISBN (Electronic)	9781467314046
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/icra.2012.6225185
Publication status	Published - 28 Jun 2012

Keywords

Manipulators
Medical robotics
Needles
Path planning
Steering systems

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10.1109/icra.2012.6225185

Cite this

@inproceedings{103cf6f5fa1547e8aab2342c834dfa26,

title = "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.",

keywords = "Manipulators, Medical robotics, Needles, Path planning, Steering systems",

author = "Bernardes, {Mariana C.} and Adorno, {Bruno V.} and Philippe Poignet and Borges, {Geovany A.}",

year = "2012",

month = jun,

day = "28",

doi = "10.1109/icra.2012.6225185",

language = "English",

isbn = "9781467314039",

pages = "1595--1600",

booktitle = "2012 IEEE International Conference on Robotics and Automation",

publisher = "IEEE",

address = "United States",

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TY - GEN

T1 - Semi-automatic needle steering system with robotic manipulator

AU - Bernardes, Mariana C.

AU - Adorno, Bruno V.

AU - Poignet, Philippe

AU - Borges, Geovany A.

PY - 2012/6/28

Y1 - 2012/6/28

N2 - 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.

AB - 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.

KW - Manipulators

KW - Medical robotics

KW - Needles

KW - Path planning

KW - Steering systems

U2 - 10.1109/icra.2012.6225185

DO - 10.1109/icra.2012.6225185

M3 - Conference contribution

SN - 9781467314039

SP - 1595

EP - 1600

BT - 2012 IEEE International Conference on Robotics and Automation

PB - IEEE

ER -

Semi-automatic needle steering system with robotic manipulator

Abstract

Keywords

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