In Vivo Model Estimation and Haptic Characterization of Needle Insertions

  title={In Vivo Model Estimation and Haptic Characterization of Needle Insertions},
  author={Laurent Barb{\'e} and Bernard Bayle and Michel de Mathelin and Afshin Gangi},
  journal={I. J. Robotics Res.},
During percutaneous interventions, the haptic perception of transitions and ruptures in the tissues is fundamental. In the medical robotics context, these events should be conveyed to a remote telemanipulating practitioner or should be taken into account in a robotic control scheme. However, this problem is extremely complex given the nature and the variety of tissues involved in percutaneous procedures. In this article, in vivo percutaneous experiments associated with an online model… CONTINUE READING
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