Robotic needle insertion in moving soft tissues using constraint-based inverse Finite Element simulation
Paul Baksic,Hadrien Courtecuisse,Christian Duriez,Bernard Bayle,Paul Baksic,Hadrien Courtecuisse,Christian Duriez,Bernard Bayle
This paper introduces a method for robotic steering of a flexible needle inside moving and deformable tissues. The method relies on a set of objective functions allowing to automatically steer the needle along a predefined path. In order to follow the desired trajectory, an inverse problem linking the motion of the robot end effector with the objective functions is solved using a Finite Element si...
