IEEE - Institute of Electrical and Electronics Engineers, Inc. - Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots

Author(s): Tipakorn Greigarn ; Nate Lombard Poirot ; Xinyang Xu ; M. Cenk Cavusoglu
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2019
Volume: 4
Page(s): 145 - 152
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2018.2881987
Regular:

Robot-assisted medical interventions, such as robotic catheter ablation, often require the robot to perform tasks on a tissue surface. This letter presents a task-space motion planning method that... View More

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