Inverse real-time Finite Element simulation for robotic control of flexible needle insertion in deformable tissues

Abstract : This paper introduces a new method for automatic robotic needle steering in deformable tissues. The main contribution relies on the use of an inverse Finite Element (FE) simulation to control an articulated robot interacting with deformable structures. In this work we consider a flexible needle, embedded in the end effector of a 6 arm Mitsubishi RV1A robot, and its insertion into a silicone phantom. Given a trajectory on the rest configuration of the silicone phantom, our method provides in real-time the displacements of the articulated robot which guarantee the permanence of the needle within the predefined path, taking into account any undergoing deformation on both the needle and the trajectory itself. A forward simulation combines i) a kinematic model of the robot, ii) FE models of the needle and phantom gel iii) an interaction model allowing the simulation of friction and puncture force. A Newton-type method is then used to provide the displacement of the robot to minimize the distance between the needle's tip and the desired trajectory. We validate our approach with a simulation in which a virtual robot can successfully perform the insertion while both the needle and the trajectory undergo significant deformations.
Type de document :
Communication dans un congrès
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) , Oct 2016, Daejeon, South Korea. <http://www.iros2016.org/>
Liste complète des métadonnées



https://hal.archives-ouvertes.fr/hal-01353925
Contributeur : Yinoussa Adagolodjo <>
Soumis le : jeudi 1 septembre 2016 - 08:24:57
Dernière modification le : mercredi 24 mai 2017 - 01:02:47

Fichiers

iros2016.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01353925, version 1

Collections

Citation

Yinoussa Adagolodjo, Laurent Goffin, Michel De Mathelin, Hadrien Courtecuisse. Inverse real-time Finite Element simulation for robotic control of flexible needle insertion in deformable tissues. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) , Oct 2016, Daejeon, South Korea. <http://www.iros2016.org/>. <hal-01353925>

Partager

Métriques

Consultations de
la notice

663

Téléchargements du document

434