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PubMed · 16404122

Simulating tele-manipulator controlled tool-tissue interactions using a nonlinear FEM deformable model.

D A Wang·A Faraci·F Bello·A Darzi
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Abstract

Enhanced visualization of an operating scene presented by a robotically assisted tele-manipulator system such as the da Vinci(TM) can be provided through the use of augmented reality facilities. Generating overlays from 3D models and the intra-operative video allows the surgeon to acquire greater information about the surgical scene. Tool-tissue interactions must be tracked to ensure the overlays are updated regularly and accurately. The work presented here describes how these interactions may be modelled by integrating a nonlinear finite element model with the 3D reconstruction and using the tool kinematic data as input to the deformation.

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Connective TissueFinite Element AnalysisHumansImaging, Three-DimensionalModels, AnatomicRoboticsUser-Computer InterfaceVideo-Assisted SurgeryJournal Article

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D A Wang, A Faraci, F Bello, A Darzi. 2006. Simulating tele-manipulator controlled tool-tissue interactions using a nonlinear FEM deformable model.. https://pubmed.ncbi.nlm.nih.gov/16404122/

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