Inverse real-time Finite Element simulation for robotic control of flexible needle insertion in deformable tissues.
Yinoussa AdagolodjoLaurent GoffinMichel de MathelinHadrien CourtecuissePublished in: IROS (2016)
Keyphrases
- needle insertion
- finite element
- robotic control
- tissue deformation
- minimally invasive surgery
- soft tissue
- finite element model
- deformable models
- medical images
- finite element method
- real time
- intraoperative
- degrees of freedom
- image guided
- minimally invasive
- robotic arm
- reinforcement learning
- image analysis
- visual feedback
- surgical procedures
- cardiac motion
- medical imaging