By Topic

Online Robust Model Estimation and Haptic Clues Detection during In Vivo Needle Insertions

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Barbé, L. ; LSIIT, Univ. de Strasbourg ; Bayle, B. ; de Mathelin, M. ; Gangi, A.

Soft tissue modeling is of key importance in medical robotics and simulation. In the case of percutaneous operations, a fine model of layer transitions and target tissues is required. It allows, for example, to convey realistic haptic feelings to a remote practitioner or to take into account the interactions with a robotic system in a control scheme. However, the nature and the variety of the involved 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. The principle of the automatic detection of significant haptic clues is then proposed

Published in:

Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on

Date of Conference:

20-22 Feb. 2006