Data-driven adaptive needle insertion assist for transperineal prostate interventions.

Mariana C Bernardes,Pedro Moreira, Lisa Mareschal,Clare M C Tempany,Kemal Tuncali,Nobuhiko Hata,Junichi Tokuda

Physics in medicine and biology（2023）

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摘要

Presented results show that the proposed closed-loop formulation can be successfully used to correct needle deflection during collaborative manual insertion with potential to be easily translated into clinical application.

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关键词

data-driven model,medical robotics,needle insertion assist,transperineal prostate intervention

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