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题名: Interaction modeling and simulation of a flexible needle insertion into soft tissues
作者: Yang TW(杨唐文) ; Yin, Hang ; Zhao XG(赵新刚) ; Han JD(韩建达) ; Xu WL(徐卫良)
作者部门: 机器人学研究室
会议名称: Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014
会议日期: June 2-3, 2014
会议地点: Munich, Germany
会议主办者: ABB; KUKA
会议录: Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014
会议录出版者: VDE-Verlag
会议录出版地: Berlin
出版日期: 2014
页码: 611-616
收录类别: EI
关键词: flexible needle ; soft tissue ; interaction modelling, FEM simulation
摘要: Needle puncture is irreplaceable for some percutaneous therapies, like biopsy, brachytherapy treatment, neurosurgery, etc. But needle insertion force deforms soft tissue, making accurate targeting difficult. It thus emerges as an important issue to model the interaction force raised during needle insertion. In this paper, we establish the force model with data acquired from the simulation of a flexible needle insertion into a liver of human being. First, high-quality tetrahedral meshes of the flexible needle and the liver are generated using an adaptive constrained Delaunay tetrahedralization algorithm. Then, the tetrahedral mesh data is integrated into SOFA, an open-source framework, to dynamically simulate the interactive behaviours of the flexible needle insertion into the liver. Finally, interactive force data acquired from the simulations is identified and modelled in three parts, namely, stiffness, friction, and cutting forces. The models established may be used in robotic needle steering and insertion training with computer simulator.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15269
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
杨唐文; Yin, Hang; 赵新刚; 韩建达; 徐卫良.Interaction modeling and simulation of a flexible needle insertion into soft tissues.见:VDE-Verlag.Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014,Berlin,2014,611-616
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