Referenced Items are not available for this document.
This paper investigates some key issues in a simulation of a stereo-fluoroscopic image-guided robotic breast biopsy system: real-time 3D path planning and robot trajectory control with considerations of safety, tissue impedance, needle flexibility, and imaging time delay. It presents a robot control scheme which allows automatic and continuous adjustments on the needle inserting path according to a real-time 3D position feedback, and is applicable to soft tissue and organ biopsy, with the expected advantages of increased accuracy, short completion time, and minimal invasiveness to the patient. Simulation results are used to illustrate the effectiveness of the developed scheme
Published in:
Control Systems Technology, IEEE Transactions on
(Volume:10
,
Issue:
3
)
Date of Publication: May 2002
- Page(s):
- 309 - 317
- ISSN :
- 1063-6536
- INSPEC Accession Number:
- 7267094
- Digital Object Identifier :
- 10.1109/87.998010
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 07 August 2002
- Issue Date :
- May 2002
- Sponsored by :
- IEEE Control Systems Society
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