In vivo study of forces during needle insertions

被引：47

作者：

Maurin, B ^{[1
]}

Barbe, L ^{[1
]}

Bayle, B ^{[1
]}

Zanne, P ^{[1
]}

Gangloff, J ^{[1
]}

De Mathelin, M ^{[1
]}

Gangi, A ^{[1
]}

Soler, L ^{[1
]}

Forgione, A ^{[1
]}

机构：

[1] ULP, UMR 7005, LSIIT, CNRS, F-67400 Illkirch Graffenstaden, France

来源：

PERSPECTIVE IN IMAGE-GUIDED SURGERY | 2004年

关键词：

D O I：

10.1142/9789812702678_0056

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Percutaneous procedures are among the developing minimally invasive techniques to treat cancerous diseases of the digestive system. They require a very accurate targeting of the organs, achieved by the combination of tactile sensing and medical imaging. In this paper, we study the forces involved during in vivo percutaneous procedures for the development of a force feedback needle insertion robotic system as well as the development of a realistic simulation device. The paper presents different conditions (manual and robotic insertions) and different organs (liver and kidney). Finally, we review some bio-mechanical models of the literature in the light of our measurements.

引用

页码：415 / 422

页数：8

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