We present a method to estimate the deformability properties of soft tissues employing visual observations, during a representative manipulation task performed with the da Vinci Research Kit (dVRK). The preliminary results obtained on a phantom experiment have shown that the proposed method is able to estimate parameters which minimize the gap between the real and the simulated configurations. This work represents a first promising step towards the improvement of simulations realism, to an extent that will make their exploitation into real clinical scenarios possible.

Vision-based estimation of deformation properties for autonomous soft tissues manipulation

M Piccinelli;E Tagliabue;D Dall’Alba;P Fiorini
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Abstract

We present a method to estimate the deformability properties of soft tissues employing visual observations, during a representative manipulation task performed with the da Vinci Research Kit (dVRK). The preliminary results obtained on a phantom experiment have shown that the proposed method is able to estimate parameters which minimize the gap between the real and the simulated configurations. This work represents a first promising step towards the improvement of simulations realism, to an extent that will make their exploitation into real clinical scenarios possible.
Soft tissues simulation
Parameters optimization
Robotic surgery
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11562/1027630
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