Needle insertions modeling: Identifiability and limitations
Fiche publication
Date publication
juillet 2007
Auteurs
Membres identifiés du Cancéropôle Est :
Pr GANGI Afshin
Tous les auteurs :
Barbe L, Bayle B, de Mathelin M, Gangi A
Lien Pubmed
Résumé
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 forces involved in typical percutaneous interventions. The ability to obtain physically consistent models during in vivo insertions is also discussed. (c) 2007 Elsevier Ltd. All rights reserved.
Référence
Biomed Signal Process Control. 2007 Jul;2(3):191-8