Online Robust Model Estimation and Haptic Clues Detection during In Vivo Needle Insertions

Soft tissue modeling is of key importance in medical robotics and simulation. In the case of percutaneous operations, a fine model of layer transitions and target tissues is required. It allows, for example, to convey realistic haptic feelings to a remote practitioner or to take into account the interactions with a robotic system in a control scheme. However, the nature and the variety of the involved tissues is such that this problem is extremely complex. In this article, we propose a method to estimate the interaction between in vivo tissues and a surgical needle. The online robust estimation of a varying parameters model is achieved during an insertion in standard operating conditions. The principle of the automatic detection of significant haptic clues is then proposed