Collaborative Robotic Biopsy with Trajectory Guidance and Needle Tip Force Feedback
Robin Mieling,Maximilian Neidhardt,Sarah Latus,Carolin Stapper,Stefan Gerlach,Inga Kniep,Axel Heinemann,Benjamin Ondruschka,Alexander Schlaefer,Robin Mieling,Maximilian Neidhardt,Sarah Latus,Carolin Stapper,Stefan Gerlach,Inga Kniep,Axel Heinemann,Benjamin Ondruschka,Alexander Schlaefer
The diagnostic value of biopsies is highly dependent on the placement of needles. Robotic trajectory guidance has been shown to improve needle positioning, but feedback for real-time navigation is limited. Haptic display of needle tip forces can provide rich feedback for needle navigation by enabling localization of tissue structures along the insertion path. We present a collaborative robotic bio...
