Development and Experimental Verification of a 3D Dynamic Absolute Nodal Coordinate Formulation Model of Flexible Prostate Biopsy/Brachytherapy Needles.
2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA（2023）
Key words
3d dynamic Absolute Nodal Coordinate Formulation model,arbitrarily large rigid body motions,computational efficiency,dynamic needle deflection settings,flexible medical needles,mathematical models,minimally invasive operations,needle deflections,nonlinear mathematical model,robot-assisted percutaneous needle insertion,rotational coordinates,static needle deflection settings,targeting accuracy,translational coordinates,transperineal prostate biopsy
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