Interactive simulation of surgical needle insertion and steering
نویسندگان
چکیده
منابع مشابه
Simulated Interactive Needle Insertion
A novel interactive virtual needle insertion simulation is presented. Simulation models are based upon planar tissue deformations and forces measured during needle insertion experiments. Users are able to control a three-degree-of-freedom virtual needle as it penetrates a linear elastostatic tissue model, while experiencing steering torques and lateral needle forces through a planar haptic inte...
متن کاملNeedle Insertion Modelling and Simulation
A methodology for estimating the force distribution that occurs along a needle shaft during insertion is described. An experimental system for measuring planar tissue phantom deformation during needle insertions has been developed and is presented. A two dimensional linear elastostatic material model, discretised using the Finite Element Method, is used to derive contact force information that ...
متن کاملNeedle insertion modeling and simulation
A methodology for estimating the force distribution that occurs along a needle shaft during insertion is described. An experimental system for measuring planar tissue phantom deformation during needle insertions has been developed and is presented. A two-dimensional linear elastostatic material model, discretised using the finite element method, is used to derive contact force information that ...
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1Institute of Computational Engineering, University of Luxembourg, Faculty of Sciences Communication and Technology, Luxembourg 2Laboratoire de Mathématiques de Besançon (LMB) UMR CNRS 6623, Université de Franche-Comté, Besançon, France 3Institute of Mechanics and Advanced Materials, School of Engineering, Cardiff University, UK 4Intelligent Systems for Medicine Laboratory, University of Wester...
متن کاملOnline Parameter Estimation for Surgical Needle Steering Model
Estimation of the system parameters, given noisy input/output data, is a major field in control and signal processing. Many different estimation methods have been proposed in recent years. Among various methods, Extended Kalman Filtering (EKF) is very useful for estimating the parameters of a nonlinear and time-varying system. Moreover, it can remove the effects of noises to achieve significant...
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ژورنال
عنوان ژورنال: ACM Transactions on Graphics
سال: 2009
ISSN: 0730-0301,1557-7368
DOI: 10.1145/1531326.1531394