Daniel A. L. Estima

Haptic Teleoperation of Flexible Needles Combining 3D Ultrasound Guidance and Needle Tip Force Feedback

We present a haptic teleoperation system capable of steering flexible needles under ultrasound imaging toward a target. With respect to similar works, this approach enables intuitive control of the needle motion while providing the user with 3D navigation and needle tip cutting force using a combina