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Abstract Ultrasound (US)-guided liver puncture is widely used in diagnosis and minimally invasive intervention. However, the procedure is highly dependent on the surgeon’s experience and is substantially affected by respiratory motion (RM), which can reduce imaging stability and puncture accuracy. To address these challenges, this paper presents a shared-control robotic system for US-guided liver puncture under RM.
This is an early access version, the complete PDF, HTML, and XML versions will be available soon. Open AccessArticle by Samuel M. Mugo *, Weihao Lu and Scott Robertson Physical Sciences Department, MacEwan University, 10700-104 Avenue, Edmonton, AB T5J 4S2, Canada * Author to whom correspondence should be addressed.
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