2020
A Novel Sensing Method to Detect Tissue Boundaries During Robotic Needle Insertion Based on Laser Doppler Flowmetry
RA-L 2020
This study investigates the use of Laser Doppler Flowmetry (LDF) as a method to detect tissue transitions during robotic needle insertions. Insertions were performed in gelatin tissue phantoms with different optical and mechanical properties and into ex-vivo sheep brain. The effect of changing the o