Real-time FEM based control of soft surgical robots

Frederick Largilliere 1, 2 Eulalie Coevoet 2 Laurent Grisoni 1 Christian Duriez 2
1 MINT2 - Méthodes et outils pour l'Interaction à gestes
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 SHACRA - Simulation in Healthcare using Computer Research Advances
LIFL - Laboratoire d'Informatique Fondamentale de Lille, Inria Lille - Nord Europe, Inria Nancy - Grand Est
Abstract : In this paper, we present a new method for the control of soft surgical robots based on the real-time inverse simulation with internal deformation computed through the use of Finite Element Method. We also consider the coupling of this method with a modified version of the same algorithm for parametrization of soft-tissue models, in order to control the navigation of the robot while gathering information on the surrounding organs.
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https://hal.inria.fr/hal-01105146
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Frederick Largilliere, Eulalie Coevoet, Laurent Grisoni, Christian Duriez. Real-time FEM based control of soft surgical robots. SURGETICA 2014, Dec 2014, Chambéry, France. ⟨hal-01105146⟩

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