| Volume 26 Issue 11-12 - Publication Date: 1 November- December June 2007 |
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| In Vivo Model Estimation and Haptic Characterization of Needle Insertions |
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| L. Barbé, B. Bayle, M. de Mathelin, LSIIT, UMR CNRS 7005, University of Strasbourg, France and A. Gangi Radiology Dept. B, University Hospitals of Strasbourg, France |
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| During percutaneous interventions, the haptic perception of transitions
and ruptures in the tissues is fundamental. In the medical robotics
context, these events should be conveyed to a remote telemanipulating
practitioner or should be taken into account in a robotic
control scheme. However, this problem is extremely complex given the
nature and the variety of tissues involved in percutaneous procedures.
In this article, in vivo percutaneous experiments associated with an
online model estimation of the interaction between tissues and a surgical
needle are presented for the first time. The estimation scheme
is then used to provide a robust method to automatically detect the
transitions that occur during needle insertion. Finally, the principle
of a modified teleoperation scheme that would allow better haptic
discrimination of ruptures is proposed and illustrated. |
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