Robotic needle insertion in moving soft tissues using constraint-based inverse Finite Element simulation.
Paul BaksicHadrien CourtecuisseChristian DuriezBernard BaylePublished in: ICRA (2020)
Keyphrases
- soft tissue
- finite element
- needle insertion
- soft tissue deformation
- haptic feedback
- finite element model
- finite element method
- finite element analysis
- surgical simulation
- real time
- tissue deformation
- minimally invasive surgery
- medical images
- biomechanical model
- material properties
- numerical solution
- image registration
- mobile robot
- robotic assisted