Needle insertion modeling and simulation
Identifieur interne : 007469 ( Main/Merge ); précédent : 007468; suivant : 007470Needle 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.
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Pascal:04-0036801Le 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></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)
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