ESAIM Proceedings · 2002 · 52 citations · 12 references
NursingSurgeryComputational MechanicsSurgical InstrumentationKinematic ConstraintsSurgical AnatomySurgical ForcepsSurgical Instrument HandlingSurgical RoboticsSuturing InstrumentsManipulationReal-time Interactive SystemsRobotic Knot TyingSplinesSurgical Knot TyingSurgical Robot DynamicsSurgical SimulationSurgical Simulation Training
In this paper, we propose a surgical thread model for suture training and in a more general way thread manipulation. This model is based on dynamic Lagrangian splines constrained by Lagrangian multipliers and penalty-based self-collisions, allowing tying knots simulation in interactive time.
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