Cartesian and joint space teleoperation for nonholonomic steerable needles

Robotically steered needles can improve clinical procedures by curving significantly within the body to attain targets and avoid obstacles. Needles that steer by tip asymmetry are nonholonomic systems, which are difficult to control manually (i.e. in joint space) due to under-actuation and unintuiti...

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Bibliographic Details

Published in:	2013 World Haptics Conference (WHC 2013 pp. 395 - 400
Main Authors:	Majewicz, A., Okamura, A. M.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01.04.2013
Subjects:	Aerospace electronics Force feedback H.5.2 [Information Interfaces and Presentation]: User Interfaces-Haptic I/O H.5.2 [Information Interfaces and Presentation]: User Interfaces-Input devices and strategies I.2.9 [Artificial Intelligence]: Robotics-Operator interfaces Joints Kinematics Needles Robots
ISBN:	1479900877, 9781479900879
Online Access:	Get full text
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