HapticV1, PascalFrancis, Curation, bibRecord, 000387

Needle insertion modeling and simulation

Identifieur interne : 000387 ( PascalFrancis/Curation ); précédent : 000386; suivant : 000388

Needle insertion modeling and simulation

Auteurs : Simon P. Dimaio [Canada] ; S. E. Salcudean [Canada]

Source :

IEEE transactions on robotics and automation [ 1042-296X ] ; 2003.

RBID : Pascal:04-0036801

Descripteurs français

Pascal (Inist)
- Temps réel, Ajustement modèle, Arbre transmission, Sensibilité tactile, Insertion, Contrainte contact, Modélisation, Modèle 2 dimensions, Méthode élément fini, Méthode numérique, Condensation, Condition aux limites, Matrice rigidité.
Wicri :
- topic : Condensation.

English descriptors

KwdEn :
- Boundary condition, Condensation, Contact stress, Finite element method, Insertion, Model matching, Modeling, Numerical method, Real time, Shaft, Stiffness matrix, Tactile sensitivity, Two dimensional model.

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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A03		`1`		`@0 IEEE trans. robot. autom.`
A05				`@2 19`
A06				`@2 5`
A08	`01`	`1`	`ENG`	`@1 Needle insertion modeling and simulation`
A11	`01`	`1`		`@1 DIMAIO (Simon P.)`
A11	`02`	`1`		`@1 SALCUDEAN (S. E.)`
A14	`01`			`@1 Department of Electrical and Computer Engineering, University of British Columbia @2 Vancouver, BC V6T 1Z4 @3 CAN @Z 1 aut. @Z 2 aut.`
A20				`@1 864-875`
A21				`@1 2003`
A23	`01`			`@0 ENG`
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A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D02D05`
C02	`02`	`X`		`@0 001D02D13`
C03	`01`	`X`	`FRE`	`@0 Temps réel @5 01`
C03	`01`	`X`	`ENG`	`@0 Real time @5 01`
C03	`01`	`X`	`SPA`	`@0 Tiempo real @5 01`
C03	`02`	`X`	`FRE`	`@0 Ajustement modèle @5 02`
C03	`02`	`X`	`ENG`	`@0 Model matching @5 02`
C03	`02`	`X`	`SPA`	`@0 Ajustamiento modelo @5 02`
C03	`03`	`X`	`FRE`	`@0 Arbre transmission @5 11`
C03	`03`	`X`	`ENG`	`@0 Shaft @5 11`
C03	`03`	`X`	`SPA`	`@0 Arbol transmisión @5 11`
C03	`04`	`X`	`FRE`	`@0 Sensibilité tactile @5 12`
C03	`04`	`X`	`ENG`	`@0 Tactile sensitivity @5 12`
C03	`04`	`X`	`SPA`	`@0 Sensibilidad tactil @5 12`
C03	`05`	`X`	`FRE`	`@0 Insertion @5 13`
C03	`05`	`X`	`ENG`	`@0 Insertion @5 13`
C03	`05`	`X`	`SPA`	`@0 Inserción @5 13`
C03	`06`	`X`	`FRE`	`@0 Contrainte contact @5 14`
C03	`06`	`X`	`ENG`	`@0 Contact stress @5 14`
C03	`06`	`X`	`SPA`	`@0 Tensión contacto @5 14`
C03	`07`	`X`	`FRE`	`@0 Modélisation @5 21`
C03	`07`	`X`	`ENG`	`@0 Modeling @5 21`
C03	`07`	`X`	`SPA`	`@0 Modelización @5 21`
C03	`08`	`X`	`FRE`	`@0 Modèle 2 dimensions @5 22`
C03	`08`	`X`	`ENG`	`@0 Two dimensional model @5 22`
C03	`08`	`X`	`SPA`	`@0 Modelo 2 dimensiones @5 22`
C03	`09`	`X`	`FRE`	`@0 Méthode élément fini @5 23`
C03	`09`	`X`	`ENG`	`@0 Finite element method @5 23`
C03	`09`	`X`	`SPA`	`@0 Método elemento finito @5 23`
C03	`10`	`X`	`FRE`	`@0 Méthode numérique @5 24`
C03	`10`	`X`	`ENG`	`@0 Numerical method @5 24`
C03	`10`	`X`	`SPA`	`@0 Método numérico @5 24`
C03	`11`	`X`	`FRE`	`@0 Condensation @5 25`
C03	`11`	`X`	`ENG`	`@0 Condensation @5 25`
C03	`11`	`X`	`SPA`	`@0 Condensación @5 25`
C03	`12`	`X`	`FRE`	`@0 Condition aux limites @5 26`
C03	`12`	`X`	`ENG`	`@0 Boundary condition @5 26`
C03	`12`	`X`	`SPA`	`@0 Condiciones límites @5 26`
C03	`13`	`X`	`FRE`	`@0 Matrice rigidité @5 27`
C03	`13`	`X`	`ENG`	`@0 Stiffness matrix @5 27`
C03	`13`	`X`	`SPA`	`@0 Matriz rigidez @5 27`
N21				`@1 026`
N82				`@1 PSI`

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Le document en format XML

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Needle insertion modeling and simulation

Needle insertion modeling and simulation

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Descripteurs français

English descriptors

Abstract

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