@InProceedings{Bernardes2012,
  author        = {Bernardes, Mariana Costa and Adorno, Bruno Vilhena and Poignet, Philippe and Borges, Geovany Ara{\'{u}}jo},
  title         = {{Semi-automatic needle steering system with robotic manipulator}},
  booktitle     = {Proceedings - IEEE International Conference on Robotics and Automation},
  year          = {2012},
  pages         = {1595--1600},
  address       = {Minnesota},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  abstract      = {This paper presents a semi-automatic system for robot-assisted 2D needle steering that uses duty-cycling to perform insertions with arcs of adjustable curvature radius. It combines image feedback manually provided by an operator with an adaptive path planning strategy to compensate for system uncertainties and changes in the workspace during the procedure. Experimental results are presented to validate the proposed platform.},
  doi           = {10.1109/ICRA.2012.6225185},
  isbn          = {9781467314039},
  issn          = {10504729},
  url           = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6225185},
}

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