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Navigation d'une aiguille médicale déformable

Abstract : The current environments of navigation of interventional gestures with needle make the assumption of the indeformability of this one. Unchecked hypothesis clinicaly with as immediate consequence a loss of precision of the gesture carried out and longer-term of potential morbid consequences. In practice, this needle can be brought to deform because of the interactions with tissues. It is thus necessary to incorporate in the navigation systems of the data on the bending of the needle to the assistance, for example, of strain gauges. These last ones allow to reach in real time local information of deformation, has to leave of which it will be possible to rebuild the deformation of the needle. The objective of this work thus consists with the development of a new generation of navigation system allowing to localize in 3D and real time, the deformation of an instrumented needle.
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Submitted on : Friday, February 28, 2014 - 3:57:26 PM
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  • HAL Id : tel-00953793, version 1



Adeline Robert. Navigation d'une aiguille médicale déformable. Médecine humaine et pathologie. Université de Grenoble, 2013. Français. ⟨NNT : 2013GRENS019⟩. ⟨tel-00953793⟩



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