Interaction modeling and simulation of a flexible needle insertion into soft tissues
文献类型：会议论文
| 作者 | Yang TW(杨唐文); Yin, Hang; Zhao XG(赵新刚) ; Han JD(韩建达); Xu WL(徐卫良)
|
| 出版日期 | 2014 |
| 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 |
| 关键词 | flexible needle soft tissue interaction modelling, FEM simulation |
| 页码 | 611-616 |
| 中文摘要 | 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. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 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 |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/15269]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Yang TW,Yin, Hang,Zhao XG,et al. Interaction modeling and simulation of a flexible needle insertion into soft tissues[C]. 见:Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014. Munich, Germany. June 2－3, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。