(a) Surgeon checking the ultrasound image of kidney stones and (b) performing a needle puncture to gain initial access to the target calyx of the kidney.
Experimental setup and the system for ultrasound image-guided robot-assisted Percutaneous Nephrolithotomy surgery.
CASE 2018
Final_CASE2018_Vision.mp4IROS 2018
IROS18_0896_VI_fi.mp4