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- titre
- Real-time Robotic Flexible Needle Insertion In Deformable Living Organs Using Isolated Objective Constraint
- auteur
- Thuc Long Ha, Julien Bert, Hadrien Courtecuisse
- article
- IEEE RSJ International Conference on Intelligent Robots and Systems - IROS 2024, Oct 2024, Abu Dhabi, United Arab Emirates. pp.10998-11003, ⟨10.1109/IROS58592.2024.10802810⟩
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This paper presents an innovative approach for executing robotic needle insertion within def .....
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- titre
- Efficient Needle Insertion Simulation using Hybrid Constraint Solver and Isolated DOFs
- auteur
- Claire Martin, Ziqiu Zeng, Hadrien Courtecuisse
- article
- Eurographics 2023 - Short Papers, May 2023, Saarbrücken, Germany. ⟨10.2312/egs.20231003⟩
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- This paper introduces a real-time compatible method to improve the location of constraints between a .....
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- titre
- Learning robotic needle steering from inverse finite element simulations
- auteur
- Pedro Henrique Suruagy Perrusi, Anna Cazzaniga, Paul Baksic, Eleonora Tagliabue, Elena de Momi, Hadrien Courtecuisse
- article
- ICRA 2021 - Workshop on Representing and Manipulating Deformable Objects, May 2021, Xi’an / Virtual, China
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- Tissue motion compensation during robotic needle steering is a challenging research topic. While the .....
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- titre
- Interactive Finite Element model of needle insertion and laceration
- auteur
- Pedro Henrique Suruagy Perrusi, Paul Baksic, Hadrien Courtecuisse
- article
- Eurographics 2021 - The 42nd Annual Conference of the European Association for Computer Graphics, European Association for Computer Graphics, May 2021, Vienne / Virtual, Austria. ⟨10.2312/egs.20211020⟩
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- This paper introduces an interactive model of needle insertion, including the possibility to simulat .....
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- titre
- Inverse real-time Finite Element simulation for robotic control of flexible needle insertion in deformable tissues
- auteur
- Yinoussa Adagolodjo, Laurent Goffin, Michel de Mathelin, Hadrien Courtecuisse
- article
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) , Oct 2016, Daejeon, South Korea
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- This paper introduces a new method for automatic robotic needle steering in deformable tissues. The .....
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