Journal ArticleDOI
Interactive simulation of needle insertion models
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TLDR
A condensation technique is shown to reduce the computational complexity of linear simulation models significantly as the needle penetrates or is withdrawn from the tissue model, the boundary conditions that determine the tissue and needle motion change.Abstract:
A novel interactive virtual needle insertion simulation is presented. The simulation models are based on measured planar tissue deformations and needle insertion forces. Since the force-displacement relationship is only of interest along the needle shaft, a condensation technique is shown to reduce the computational complexity of linear simulation models significantly. As the needle penetrates or is withdrawn from the tissue model, the boundary conditions that determine the tissue and needle motion change. Boundary condition and local material coordinate changes are facilitated by fast low-rank matrix updates. A large-strain elastic needle model is coupled to the tissue models to account for needle deflection and bending during simulated insertion. A haptic environment, based on these novel interactive simulation techniques, allows users to manipulate a three-degree-of-freedom virtual needle as it penetrates virtual tissue models, while experiencing steering torques and lateral needle forces through a planar haptic interface.read more
Citations
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Journal ArticleDOI
Needle insertion into soft tissue: a survey.
TL;DR: A survey of the current state of research on needle insertion in soft tissue is presented, e.g. modeling needle insertion forces, modeling tissue deformation and needle deflection during insertion, robot-assisted needle insertion, and the effect of different trajectories on tissueDeformation.
Journal ArticleDOI
The Role of Haptics in Medical Training Simulators: A Survey of the State of the Art
TL;DR: In this article, the role of haptics in virtual medical training applications is discussed, where haptic feedback can be used to aid a practitioner to learn and practice a task.
Journal ArticleDOI
Mechanics of Flexible Needles Robotically Steered through Soft Tissue
TL;DR: A mechanics-based model of robotic needle steering is described, which can be used to predict needle behavior and optimize system design based on fundamental mechanical and geometrical properties of the needle and tissue.
Journal ArticleDOI
Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions
Yong-Lae Park,Santhi Elayaperumal,Bruce L. Daniel,Seok Chang Ryu,Mihye Shin,Joan Savall,Richard J. Black,Behzad Moslehi,Mark R. Cutkosky +8 more
TL;DR: A MRI-compatible biopsy needle instrumented with optical fiber Bragg gratings for measuring bending deflections of the needle as it is inserted into tissues to display tool deflections in real time, with greater bandwidth and accuracy than when viewing the tool in MR images.
Journal ArticleDOI
Needle steering and motion planning in soft tissues
TL;DR: A new concept of needle steering has been developed and a needle manipulation Jacobian defined using numerical needle insertion models that include needle deflection and soft tissue deformation used to demonstrate needle tip placement and obstacle avoidance.
References
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To Err Is Human Building a Safer Health System
TL;DR: Boken presenterer en helhetlig strategi for hvordan myndigheter, helsepersonell, industri og forbrukere kan redusere medisinske feil.
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Book ReviewTo Err is Human: building a safer health system Kohn L T Corrigan J M Donaldson M S Washington DC USA: Institute of Medicine/National Academy Press ISBN 0 309 06837 1 $34.95
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Real-time elastic deformations of soft tissues for surgery simulation
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Proceedings ArticleDOI
ArtDefo: accurate real time deformable objects
Doug L. James,Dinesh K. Pai +1 more
TL;DR: An algorithm for fast, physically accurate simulation of deformable objects suitable for real time animation and virtual environment interaction and how to exploit the coherence of typical interactions to achieve low latency is presented.