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Communication Dans Un Congrès Année : 2014

Real-time FEM based control of soft surgical robots

Résumé

In this paper, we present a new method for the control of soft surgical robots based on the real-time inverse simulation with internal deformation computed through the use of Finite Element Method. We also consider the coupling of this method with a modified version of the same algorithm for parametrization of soft-tissue models, in order to control the navigation of the robot while gathering information on the surrounding organs.
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Dates et versions

hal-01105146 , version 1 (19-01-2015)

Identifiants

  • HAL Id : hal-01105146 , version 1

Citer

Frederick Largilliere, Eulalie Coevoet, Laurent Grisoni, Christian Duriez. Real-time FEM based control of soft surgical robots. SURGETICA 2014, Dec 2014, Chambéry, France. ⟨hal-01105146⟩
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