Online robust model estimation during in vivo needle insertions
Barbé, L.; Bayle, B.; de Mathelin, M.
Studies in Health Technology and Informatics 119: 43-45
2006
ISSN/ISBN: 0926-9630 PMID: 16404010 Document Number: 601722
Soft tissue modeling is of key importance in medical robotics and simulation. In the case of percutaneous operations, a fine model of layers transitions and target tissues is required. However, the nature and the variety of these 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.