Abstract
Percutaneous medical procedures using surgical needles are among the least invasive approaches to accessing deep internal structures of organs without damaging surrounding tissues. Our project aims to develop new solutions for the control of medical robots interacting with soft tissues. This work is motivated by recent advances in medical simulation, achieving sufficient realism to help surgeons during operations. The maturity of these techniques now suggests the possibility of using FE simulation to control a robotic system for needle insertion procedures. The originality of our approach lies in the fact that we address the deformation problem using inverse real-time finite element simulations in the control loop of the robot.
HDR committee
- Kenny Erlebern, Associate Professor, University of Copenhagen, Reviewer
- Sarthak Misra, Professor, University of Twente, Reviewer
- Danail Stoyanov, Professor, University College London, Reviewer
- Stéphane Cotin, Research Director, Inria Strasbourg, Examiner
- Jocelyne Troccaz, Research Director, CNRS/University of Grenoble, President
- Bernard Bayle, Professor, University of Strasbourg, Guarantor
