Real-time FEM based control of soft surgical robots

Frederick Largilliere (1, 2) , Eulalie Coevoet (2) , Laurent Grisoni (1) , Christian Duriez (2)

1 MINT2 - Méthodes et outils pour l'Interaction à gestes
2 SHACRA - Simulation in Healthcare using Computer Research Advances

In this paper, we present a new method for the control of soft surgical robots based on the real-time inverse simulation with internal deformation computed through the use of Finite Element Method. We also consider the coupling of this method with a modified version of the same algorithm for parametrization of soft-tissue models, in order to control the navigation of the robot while gathering information on the surrounding organs.

Domains: Robotics [cs.RO]; Digital Libraries [cs.DL]

Frederick Largilliere, Eulalie Coevoet, Laurent Grisoni, Christian Duriez. Real-time FEM based control of soft surgical robots. SURGETICA 2014, Dec 2014, Chambéry, France. ⟨hal-01105146⟩