9 accepted papers
This paper presents an innovative and practical method for robotic needle steering in radio-frequency ablation (RFA) to treat cancer. One of the main challenges in this process is that tissue shifts and deforms during needle insertion, making it difficult to accurately predict the needle's path in r…
Needle-based procedures such as biopsies or radiofrequency ablation (RFA) of tumors are often considered to diagnose and treat liver cancer for their low invasiveness but raise difficulties for practitioners related to needle placement and visibility of internal anatomical structures. Efforts are be…
This paper presents an innovative approach for executing robotic needle insertion within deformable living organs. The objective is to maintain the insertion pivot point on the skin, which remains stationary. At the same time, the organs undergo displacement and deformation due to respiration. There…
This paper deals with the problem of needle steering in deformable tissues subject to physiological motions. A novel shared control method is proposed, which combines an automatic needle steering algorithm with the motions applied by the radiologist, in order to place the needle tip at the desired l…
This paper introduces a method for robotic steering of a flexible needle inside moving and deformable tissues. The method relies on a set of objective functions allowing to automatically steer the needle along a predefined path. In order to follow the desired trajectory, an inverse problem linking t…
This paper introduces an Augmented Reality (AR) system for open liver surgery. Although open surgery remains the gold-standard for the treatment of complex tumors and central lesions, technological issues actually prevent using AR with sufficient accuracy for clinical use. We propose a markers-based…
In this paper we introduce a method for semiautomatic registration of 3D deformable models using 2D shape outlines (silhouettes) extracted from a monocular camera view. Our framework is based on the combination of a biomechanical model of the organ with a set of projective constraints influencing th…
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, emb…
This paper presents an original method for interactions' haptic rendering when treating hyperelastic materials. Such simulations are known to be difficult due to the non-linear behavior of hyperelastic bodies; furthermore, haptic constraints enjoin contact forces to be refreshed at least at 1000 upd…