ICRA 2011 Paper Abstract


Paper TuP1-InteracInterac.40

Asadian, Ali (The University of Western Ontario (UWO)), Patel, Rajni (The University of Western Ontario), Kermani, Mehrdad R. (University of Western Ontario)

A Distributed Model for Needle-Tissue Friction in Percutaneous Interventions

Scheduled for presentation during the Poster Sessions "Interactive Session II: Systems, Control and Automation" (TuP1-InteracInterac), Tuesday, May 10, 2011, 13:40−14:55, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Medical Robots and Systems


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 key 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 bristle-based LuGre dynamic 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.



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