A Model for Relations between Needle Deflection, Force, and Thickness on Needle Penetration
MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
The Effect of Visual and Haptic Feedback on Manual and Teleoperated Needle Insertion
MICCAI '02 Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-Part I
Measurement of the Tip and Friction Force Acting on a Needle during Penetration
MICCAI '02 Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-Part I
Nonholonomic Modeling of Needle Steering
International Journal of Robotics Research
In Vivo Model Estimation and Haptic Characterization of Needle Insertions
International Journal of Robotics Research
Modeling of tool-tissue interactions for computer-based surgical simulation: A literature review
Presence: Teleoperators and Virtual Environments
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
Bone drilling methodology and tool based on position measurements
Computer Methods and Programs in Biomedicine
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Precise control of automated invasive surgical tools requires real-time identification of tissue types and their deformation. At the focus of this paper is the epidural puncture, for which it is shown that the tissue type and deformation can respectively be determined from laser-based spectroscopy and the change in force required to push the needle through the various tissues. Studies have shown that physiological variations from one patient to another are too great to allow absolute values to be reliably used to indicate the position of the needle tip. However, the pattern of force variation during penetration is shown to be similar between specimens. Interpretation of this information in conjunction with spectroscopic techniques can be used to discriminate between tissues and tissue structure at the needle tip. This paper describes results from an investigation on automatic techniques for interpreting the type and deformation of tissues under tool action.