Dexterous Control of an 11-DOF Redundant Robot for CT-Guided Needle Insertion With Task-Oriented Weighted Policies
This study developed an 11-DOF robotic system to precisely insert needles into CT scans using a robot arm and cable-driven end-effector. It uses a weighted inverse kinematics controller and nullspace control to intelligently manage the robot's movement. This allows the system to prioritize either fast base movements or fine tip precision based on the specific task requirements during needle insertion.