@inproceedings{30327d7c295443eea2b03c812ab42d03,
title = "Towards deformation control of soft tissues based on visual servo for flexible needle insertion applications",
abstract = "In this paper, a new deformation control algorithm for the soft tissue is applied to flexible needled insertion, which can simplify the needle insertion. Considering that the parameters of soft tissue are hard to obtained, we adopt the uncalibrated visual servo control to design the deformation control algorithm for no priori-knowledge soft tissue. Thus, we can obtain the target shift for the deformation control by a new method of needle trajectory planning. Finally, a detailed experiment of deformation control with target shift planning has been conducted to validate the feasibility of the new technique.",
keywords = "deformation control, flexible needle, soft tissue, trajectory planning, uncalibrated visual",
author = "Zhenzhou Yi and Wei Dong and Zhijiang Du",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 ; Conference date: 02-08-2015 Through 05-08-2015",
year = "2015",
month = sep,
day = "2",
doi = "10.1109/ICMA.2015.7237578",
language = "英语",
series = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "743--748",
booktitle = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",
address = "美国",
}