Needle insertion modeling and simulation
Identifieur interne : 006F92 ( Main/Exploration ); précédent : 006F91; suivant : 006F93Needle insertion modeling and simulation
Auteurs : Simon P. Dimaio [Canada] ; S. E. Salcudean [Canada]Source :
- IEEE transactions on robotics and automation [ 1042-296X ] ; 2003.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Condensation.
English descriptors
- KwdEn :
Abstract
A methodology for estimating the force distribution that occurs along a needle shaft during insertion is described. An experimental system for measuring planar tissue phantom deformation during needle insertions has been developed and is presented. A two-dimensional linear elastostatic material model, discretised using the finite element method, is used to derive contact force information that is not directly measurable. This approach provides a method for quantifying the needle forces and soft tissue deformations that occur during general needle trajectories in multiple dimensions. The needle force distribution is used for graphical and haptic real-time simulations of needle insertion. Since the force displacement relationship is required only along the needle, a condensation technique is shown to achieve very fast interactive simulations. Stiffness matrix changes corresponding to changes in boundary conditions and material coordinate frames are performed using low-rank matrix updates.
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 001122
- to stream PascalFrancis, to step Curation: 000387
- to stream PascalFrancis, to step Checkpoint: 000E37
- to stream Main, to step Merge: 007469
- to stream Main, to step Curation: 006F92
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Needle insertion modeling and simulation</title>
<author><name sortKey="Dimaio, Simon P" sort="Dimaio, Simon P" uniqKey="Dimaio S" first="Simon P." last="Dimaio">Simon P. Dimaio</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Electrical and Computer Engineering, University of British Columbia</s1>
<s2>Vancouver, BC V6T 1Z4</s2>
<s3>CAN</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>Canada</country>
<wicri:noRegion>Vancouver, BC V6T 1Z4</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Salcudean, S E" sort="Salcudean, S E" uniqKey="Salcudean S" first="S. E." last="Salcudean">S. E. Salcudean</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Electrical and Computer Engineering, University of British Columbia</s1>
<s2>Vancouver, BC V6T 1Z4</s2>
<s3>CAN</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>Canada</country>
<wicri:noRegion>Vancouver, BC V6T 1Z4</wicri:noRegion>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">04-0036801</idno>
<date when="2003">2003</date>
<idno type="stanalyst">PASCAL 04-0036801 CRAN</idno>
<idno type="RBID">Pascal:04-0036801</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">001122</idno>
<idno type="wicri:Area/PascalFrancis/Curation">000387</idno>
<idno type="wicri:Area/PascalFrancis/Checkpoint">000E37</idno>
<idno type="wicri:doubleKey">1042-296X:2003:Dimaio S:needle:insertion:modeling</idno>
<idno type="wicri:Area/Main/Merge">007469</idno>
<idno type="wicri:Area/Main/Curation">006F92</idno>
<idno type="wicri:Area/Main/Exploration">006F92</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Needle insertion modeling and simulation</title>
<author><name sortKey="Dimaio, Simon P" sort="Dimaio, Simon P" uniqKey="Dimaio S" first="Simon P." last="Dimaio">Simon P. Dimaio</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Electrical and Computer Engineering, University of British Columbia</s1>
<s2>Vancouver, BC V6T 1Z4</s2>
<s3>CAN</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>Canada</country>
<wicri:noRegion>Vancouver, BC V6T 1Z4</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Salcudean, S E" sort="Salcudean, S E" uniqKey="Salcudean S" first="S. E." last="Salcudean">S. E. Salcudean</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Electrical and Computer Engineering, University of British Columbia</s1>
<s2>Vancouver, BC V6T 1Z4</s2>
<s3>CAN</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>Canada</country>
<wicri:noRegion>Vancouver, BC V6T 1Z4</wicri:noRegion>
</affiliation>
</author>
</analytic>
<series><title level="j" type="main">IEEE transactions on robotics and automation</title>
<title level="j" type="abbreviated">IEEE trans. robot. autom.</title>
<idno type="ISSN">1042-296X</idno>
<imprint><date when="2003">2003</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
<seriesStmt><title level="j" type="main">IEEE transactions on robotics and automation</title>
<title level="j" type="abbreviated">IEEE trans. robot. autom.</title>
<idno type="ISSN">1042-296X</idno>
</seriesStmt>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Boundary condition</term>
<term>Condensation</term>
<term>Contact stress</term>
<term>Finite element method</term>
<term>Insertion</term>
<term>Model matching</term>
<term>Modeling</term>
<term>Numerical method</term>
<term>Real time</term>
<term>Shaft</term>
<term>Stiffness matrix</term>
<term>Tactile sensitivity</term>
<term>Two dimensional model</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Temps réel</term>
<term>Ajustement modèle</term>
<term>Arbre transmission</term>
<term>Sensibilité tactile</term>
<term>Insertion</term>
<term>Contrainte contact</term>
<term>Modélisation</term>
<term>Modèle 2 dimensions</term>
<term>Méthode élément fini</term>
<term>Méthode numérique</term>
<term>Condensation</term>
<term>Condition aux limites</term>
<term>Matrice rigidité</term>
</keywords>
<keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Condensation</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">A methodology for estimating the force distribution that occurs along a needle shaft during insertion is described. An experimental system for measuring planar tissue phantom deformation during needle insertions has been developed and is presented. A two-dimensional linear elastostatic material model, discretised using the finite element method, is used to derive contact force information that is not directly measurable. This approach provides a method for quantifying the needle forces and soft tissue deformations that occur during general needle trajectories in multiple dimensions. The needle force distribution is used for graphical and haptic real-time simulations of needle insertion. Since the force displacement relationship is required only along the needle, a condensation technique is shown to achieve very fast interactive simulations. Stiffness matrix changes corresponding to changes in boundary conditions and material coordinate frames are performed using low-rank matrix updates.</div>
</front>
</TEI>
<affiliations><list><country><li>Canada</li>
</country>
</list>
<tree><country name="Canada"><noRegion><name sortKey="Dimaio, Simon P" sort="Dimaio, Simon P" uniqKey="Dimaio S" first="Simon P." last="Dimaio">Simon P. Dimaio</name>
</noRegion>
<name sortKey="Salcudean, S E" sort="Salcudean, S E" uniqKey="Salcudean S" first="S. E." last="Salcudean">S. E. Salcudean</name>
</country>
</tree>
</affiliations>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 006F92 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 006F92 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= Main |étape= Exploration |type= RBID |clé= Pascal:04-0036801 |texte= Needle insertion modeling and simulation }}
![]() | This area was generated with Dilib version V0.6.23. | ![]() |