Robotic Insertion of Flexible Needle in Deformable Structures Using Inverse Finite-Element Simulation.
Yinoussa AdagolodjoLaurent GoffinMichel de MathelinHadrien CourtecuissePublished in: IEEE Trans. Robotics (2019)
Keyphrases
- finite element
- soft tissue
- finite element method
- surgical simulation
- boundary element
- finite element model
- finite element analysis
- finite difference
- temperature field
- radio frequency ablation
- needle insertion
- mesh generation
- numerical solution
- real time
- material properties
- tissue deformation
- robotic systems
- gpu accelerated
- biomechanical model
- high fidelity
- mobile robot
- computer vision