Fast and accurate intracorporeal targeting through an anatomical orifice exhibiting unknown behavior
Rémi Chalard,David Reversat,Guillaume Morel,Marie-Aude Vitrani,Rémi Chalard,David Reversat,Guillaume Morel,Marie-Aude Vitrani
Surgery may involve precise instrument tip positioning in a minimally invasive way. During these operations, the instrument is inserted in the body through an orifice. The movements of the instrument are constrained by interaction forces arising at the orifice level. The physical constraints may drastically vary depending on the patient’s anatomy. This introduces uncertainties that challenge the p...
