Human–Machine Collaboration Modalities for Semi-Automated Needle Insertion Into Soft Tissue
IEEE Robotics and Automation Letters(2018)
Abstract
Needle insertion is a minimally invasive medical procedure commonly used for biopsy, ablation, or deposition of therapeutic agents. In prostate brachytherapy, needles are inserted into the prostate in order to deposit multiple rice-grain-sized radioactive seeds to eradicate cancerous tissue from close proximity. During insertion, the needles should remain on a straight path, such that the seeds ar...
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Key words
Needles,Robots,Surgery,Automation,Brachytherapy,Collaboration,Force
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