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Online Robust Model Estimation During In Vivo Needle Insertions
Laurent Barbé, Bernard Bayle, Michel de Mathelin
43 - 45
Studies in Health Technology and Informatics
Volume 119: Medicine Meets Virtual Reality 14
Abstract

Soft tissue modeling is of key importance in medical robotics and simulation. In the case of percutaneous operations, a fine model of layers transitions and target tissues is required. However, the nature and the variety of these tissues is such that this problem is extremely complex. In this article, we propose a method to estimate the interaction between in vivo tissues and a surgical needle. The online robust estimation of a varying parameters model is achieved during an insertion in standard operating conditions.

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