A Distributed Model for Needle-Tissue Friction in Percutaneous Interventions
This paper presents a new approach to account for distributed friction in needle insertion in soft tissue. As is well known, friction is a complex nonlinear phenomenon, and it appears that classical or static models are unable to capture some of the observations in systems subject to significant frictional effects. To characterize dynamic features when the needle is very flexible and friction plays an important role in bending mechanics or when a stop-and-start planning scenario is implemented at low insertion velocities, a distributed LuGre model can be adopted. Experimental results using an artificial phantom illustrate that the proposed method is capable of representing the main features of friction which is a major force component in needle-tissue interaction during percutaneous interventions.
Ali Asadian Rajni V. Patel Mehrdad R. Kermani
Canadian Surgical Technologies and Advanced Robotics (CSTAR),Lawson Health Research Institute,and the Department of Electrical and Computer Engineering,The University of Western Ontario,London,Ontario,Canada
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1896-1901
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）