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Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion

机译：合作控制机器人针插入中针偏转和目标偏移的闭环主动补偿

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Marek Wartenberg; Joseph Schornak; Katie Gandomi; Paulo Carvalho; Chris Nycz; Niravkumar Patel; Iulian Iordachita; Clare Tempany; Nobuhiko Hata; Junichi Tokuda; Gregory S. Fischer;
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1. Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion [J] . Marek Wartenberg, Joseph Schornak, Katie Gandomi, Annals of Biomedical Engineering: The Journal of the Biomedical Engineering Society . 2018,第10期

机译：合作控制机器人针插入中针偏转和目标偏移的闭环主动补偿
2. Impedance and admittance control for respiratory‐motion compensation during robotic needle insertion – a preliminary test [J] . Kim Yeoun Jae, Seo Jong Hyun, Kim Hong Rae, The international journal of medical robotics + computer assisted surgery: MRCAS . 2017,第4期

机译：机器人针插入过程中呼吸运动补偿的阻抗和进入控制 - 初步试验
3. Vision-based variable impedance control with oscillation observer for respiratory motion compensation during robotic needle insertion: a preliminary test [J] . Cho Chang Nho, Seo Jong Hyun, Kim Hong Rae, The international journal of medical robotics + computer assisted surgery: MRCAS . 2015,第4期

机译：具有振动观察器的基于视觉的可变阻抗控制，用于在机械手插入针头期间进行呼吸运动补偿：初步测试
4. A virtual sensor for needle deflection estimation during soft-tissue needle insertion [C] . Lehmann Thomas, Rossa Carlos, Usmani Nawaid, IEEE International Conference on Robotics and Automation . 2015

机译：虚拟传感器，用于估算软组织针头插入过程中的针头偏斜
5. Trajectory planning and control of needle insertion in robotics-assisted prostate brachytherapy. [D] . Abolhassani, Niki. 2008

机译：机器人辅助前列腺近距离放射治疗中的轨迹规划和针头插入控制。
6. Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion [O] . Marek Wartenberg, Joseph Schornak, Katie Gandomi, -1

机译：闭环主动补偿的协作控制的机器人针头插入过程中的针头偏转和目标偏移
7. A virtual sensor for needle deflection estimation during soft-tissue needle insertion [O] . Thomas Lehmann, Carlos Rossa, Nawaid Usmani, 2015

机译：一种用于软组织针插入时针偏转估计的虚拟传感器

Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion

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