Estimation of interaction matrix including anus elasticity in real time to control the probe tip in prostate biopsy
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چکیده
I n transrectal prostate biopsy, anus imposes kinematic constraints so when robots manipulate the US probe, it might be needed to know the insertion point in the base frame in real time. In this paper, we developped a detection model of instrument insertion point displacement. We focused on the localization of the fulcrum center in real time including the environment insertion elasticity (anus). The proposed solution was tested and verified using a 6 DOF robot.
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تاریخ انتشار 2017