Ultrasound Tracking and Closed-Loop Control of a Magnetically-Actuated Biomimetic Soft Robot.
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)（2022）
Key words
average tracking error,biomedical applications,camera-based tracker,closed-loop control,CNN method,convolutional neural network,fine-needle biospy,ground truth,magnetically-actuated biomimetic soft robot,Millipede soft robot,motion planning,planned path,size 1.59 mm,size 1.71 mm,soft untethered robot,ultrasound images,ultrasound tracking,video camera,virtual obstacles avoidance
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