Impedance and admittance control for respiratory‐motion compensation during robotic needle insertion – a preliminary test

Background Many robotic needle‐biopsy systems have been developed to enhance the accuracy of needle‐biopsy intervention. These systems can reduce the intervention time and the radiation exposure of clinicians. However, respiratory‐motion compensation is needed to ensure the accuracy and efficiency o...

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Veröffentlicht in:	The international journal of medical robotics + computer assisted surgery 2017-12, Vol.13 (4), p.n/a
Hauptverfasser:	Kim, Yeoun Jae, Seo, Jong Hyun, Kim, Hong Rae, Kim, Kwang Gi
Format:	Artikel
Sprache:	eng
Schlagworte:	admittance control Algorithms Biopsy Computer simulation Control algorithms Control theory Data acquisition Electrical impedance Feasibility studies Human motion impedance control Insertion Motion compensation Radiation effects respiratory‐motion compensation robotic needle insertion Robotics Stewart‐Gough platform
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