Robotic Needle Positioning Based on Ct-Scan Images: Constrained Admittance Realization

Robotic Needle Positioning Based on Ct-Scan Images: Constrained Admittance Realization Publisher

Sadeghian H¹ ; Barkhordari M¹ ; Kamranian Z² ; Jafarpisheh MS³

Source: Journal of Medical Robotics Research Published:2020

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.

Style	Citing Format
MLA	Sadeghian H, et al.. "Robotic Needle Positioning Based on Ct-Scan Images: Constrained Admittance Realization." Journal of Medical Robotics Research, vol. 5, no. 3-4, 2020, pp. -.
APA	Sadeghian H, Barkhordari M, Kamranian Z, Jafarpisheh MS (2020). Robotic Needle Positioning Based on Ct-Scan Images: Constrained Admittance Realization. Journal of Medical Robotics Research, 5(3-4), -.
Chicago	Sadeghian H, Barkhordari M, Kamranian Z, Jafarpisheh MS. "Robotic Needle Positioning Based on Ct-Scan Images: Constrained Admittance Realization." Journal of Medical Robotics Research 5, no. 3-4 (2020): -.
Harvard	Sadeghian H et al. (2020) 'Robotic Needle Positioning Based on Ct-Scan Images: Constrained Admittance Realization', Journal of Medical Robotics Research, 5(3-4), pp. -.
Vancouver	Sadeghian H, Barkhordari M, Kamranian Z, Jafarpisheh MS. Robotic Needle Positioning Based on Ct-Scan Images: Constrained Admittance Realization. Journal of Medical Robotics Research. 2020;5(3-4):-.
BibTex	@article{ author = {Sadeghian H and Barkhordari M and Kamranian Z and Jafarpisheh MS}, title = {Robotic Needle Positioning Based on Ct-Scan Images: Constrained Admittance Realization}, journal = {Journal of Medical Robotics Research}, volume = {5}, number = {3-4}, pages = {-}, year = {2020} }
RIS	TY - JOUR AU - Sadeghian H AU - Barkhordari M AU - Kamranian Z AU - Jafarpisheh MS TI - Robotic Needle Positioning Based on Ct-Scan Images: Constrained Admittance Realization JO - Journal of Medical Robotics Research VL - 5 IS - 3-4 SP - EP - PY - 2020 ER -

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