Towards Hands-On Cooperative Control for Closed-Loop MRI-Guided Targeted Prostate Biopsy
Intra-operative imaging is sometimes available to assist in needle biopsy, but typical open- loop insertion does not account for unmodeled needle deflection or target shift. Robotic closed-loop compensation for deviation from an initial straight-line trajectory can reduce the targeting error, u...
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Others |
| Published: |
Digital WPI
2018
|
| Subjects: | |
| Online Access: | https://digitalcommons.wpi.edu/etd-dissertations/94 https://digitalcommons.wpi.edu/cgi/viewcontent.cgi?article=1093&context=etd-dissertations |