Force vs. Deformation in soft tissue puncture
نویسندگان
چکیده
Soft tissue models are of fundamental interest to minimally invasive surgery. As the proprioceptive feedback in these procedures is limited, visualization and augmentation can greatly enhance the efficacy of these procedures. We are interested in the modeling and validation of soft tissue response to surgical instruments, and in particular, soft tissue behavior during punctures. A system for this purpose would be applicable in image-guided needle placement and other similar minimally invasive procedures, training (e.g. laparoscopic training), and could also produce correct haptic models of soft tissue. In this paper, we report on initial data collection experiments using a precise robot and fluoroscopic imager, and development of a system for modeling and validating this information.
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