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.
| Origine | Fichiers produits par l'(les) auteur(s) |
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