Detection of abrupt changes: theory and application
Detection of abrupt changes: theory and application
Fault diagnosis of machines via parameter estimation and knowledge processing: tutorial paper
Automatica (Journal of IFAC) - Special section on fault detection, supervision and safety for technical processes
Robust adaptive control
In Vivo Data Acquisition Instrument for Solid Organ Mechanical Property Measurement
MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
Reliable and Enhanced Stiffness Perception in Soft-tissue Telemanipulation
International Journal of Robotics Research
Improving Contact Realism through Event-Based Haptic Feedback
IEEE Transactions on Visualization and Computer Graphics
Contact impedance estimation for robotic systems
IEEE Transactions on Robotics
A robotic system for blood sampling
IEEE Transactions on Information Technology in Biomedicine
Schemes for the identification of tissue types and boundaries at the tool point for surgical needles
IEEE Transactions on Information Technology in Biomedicine
Process fault detection based on modeling and estimation methods-A survey
Automatica (Journal of IFAC)
Estimation of the Fracture Toughness of Soft Tissue from Needle Insertion
ISBMS '08 Proceedings of the 4th international symposium on Biomedical Simulation
A Force Feedback Teleoperated Needle Insertion Device for Percutaneous Procedures
International Journal of Robotics Research
Gain-scheduling control of a teleoperation system
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
An interactive high-fidelity haptic needle simulator with GPU acceleration
Proceedings of the 9th ACM SIGGRAPH Conference on Virtual-Reality Continuum and its Applications in Industry
Influence of force and torque feedback on operator performance in a VR-based suturing task
Applied Bionics and Biomechanics
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During percutaneous interventions, the haptic perception of transitions and ruptures in the tissues is fundamental. In the medical robotics context, these events should be conveyed to a remote telemanipulating practitioner or should be taken into account in a robotic control scheme. However, this problem is extremely complex given the nature and the variety of tissues involved in percutaneous procedures. In this article, in vivo percutaneous experiments associated with an online model estimation of the interaction between tissues and a surgical needle are presented for the first time. The estimation scheme is then used to provide a robust method to automatically detect the transitions that occur during needle insertion. Finally, the principle of a modified teleoperation scheme that would allow better haptic discrimination of ruptures is proposed and illustrated.