Online robust model estimation during in vivo needle insertions.
Soft tissue modeling is of key importance in medical robotics and simulation. In the case of percutaneous operations, a fine model of layers transitions and target tissues is required. However, the nature and the variety of these tissues is such that this problem is extremely complex. In this article, we propose a method to estimate the interaction between in vivo tissues and a surgical needle. The online robust estimation of a varying parameters model is achieved during an insertion in standard operating conditions.
Barbé
Laurent
L
LSIIT, UMR CNRS 7005, University of Strasbourg, Bld Sébastien Brant BP 10413, F-67412, Illkirch Cedex, France. barbe@eavr.u-strasbg.fr
Bayle
Bernard
B
de Mathelin
Michel
M
D003198:Computer Simulation; D003238:Connective Tissue; D005602:France; D009339:Needles; D012371:Robotics; D013525:Surgical Instruments