Toward a real-time tracking of a medical deformable needle from strain measurements

Adeline Robert 1 Grégory Chagnon 2 Agnès Bonvilain 3 Philippe Cinquin 1 Alexandre Moreau-Gaudry 1, *
* Corresponding author
1 TIMC-IMAG-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur
TIMC-IMAG - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525
2 TIMC-IMAG-BioMMat - Ingénierie Biomédicale et Mécanique des Matériaux
TIMC-IMAG - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525
Abstract : Needles used in medical percutaneous procedures are brought to deform because of its interactions with inhomogeneous and anisotropic tissues. In this paper, the first step of the development of a new generation of tools for assistance in the realization of gestures taking into account these deformations are presented. We provide a new approach for determining, in "real time" and in 3D, the shape of an instrumented needle inserted into a complex tissue by using strain microgauges. The knowledge of the real time local deformation from these strain microgauges would improve the current navigation systems by considering not only the rigid needles but also the flexible ones. Our aim is to reconstruct in real time the instrumented needle shape in order to help tracking and steering during a medical intervention.
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Adeline Robert, Grégory Chagnon, Agnès Bonvilain, Philippe Cinquin, Alexandre Moreau-Gaudry. Toward a real-time tracking of a medical deformable needle from strain measurements. 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Jul 2013, Osaka, Japan. pp.3495-8, ⟨10.1109/EMBC.2013.6610295⟩. ⟨hal-01006353⟩

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