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Robotic needle insertion in moving soft tissues using constraint-based inverse Finite Element simulation

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Academic year: 2021

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Figure

Fig. 1. Control loop using the inverse FE simulation of a needle insertion.
Fig. 4. Distance in mm (in the direct simulation) between the needle tip and the desired position on the trajectory (corresponding to the norm of the objective function k ¯ e p k) according to the insertion time (s), averaged over 22 simulations

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