NEEDLE INSERTIONS MODELLING : IDENTIFIABILITY AND LIMITATIONS

L. Barbé, B. Bayle, M. de Mathelin, A. Gangi
2006 IFAC Proceedings Volumes  
Soft tissues modeling is a very present preoccupation in different scientific fields, from computer simulation to biomechanics or medical robotics. In this article, we consider the interaction of a needle with living tissues, which is a particularly complex modeling problem since it is characterized by inhomogeneity and nonlinearity properties. We propose a robust method to online estimate the interaction between living tissues and a surgical needle. The ability to obtain physically consistent models during in vivo insertions is discussed.
doi:10.3182/20060920-3-fr-2912.00027 fatcat:g4uudyab6rg4ne7qppz7yh66au