An extended abstract has been accepted to Automed 2021.
Pedro Perrusi and Anna Cazzaniga will present the paper Robotic needle steering in deformable tissues with extreme learning machines at the conference from 8 to 9 June, held virtually. This work was enabled by a collaboration between the ICube AVR team, Nearlab and Altair Robotics lab. The paper is available in Open Access.
Robotic needle steering in deformable tissues with extreme learning machines
Published at 2021, June 21
Title: Robotic needle steering in deformable tissues with extreme learning machines
Authors: Pedro
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Published at 2021, June 21
Title: Robotic needle steering in deformable tissues with extreme learning machines
Authors: Pedro Henrique Suruagy Perrusi, Anna Cazzaniga, Paul Baksic, Eleonora Tagliabue, Elena De Momi, Hadrien Courtecuisse
Abstract: Control strategies for robotic needle steering in soft tissues must account for complex interactions between the needle and the tissue to achieve accurate needle tip positioning. Recent findings show faster robotic command rate can improve the control stability in realistic scenarios. This study proposes the use of Extreme Learning Machines to provide fast commands for robotic needle steering. A synthetic dataset based on the inverse finite element simulation control framework is used to train the model. Results show the model is capable to infer commands 66% faster than the inverse simulation and reaches acceptable precision even on previously unseen trajectories.
Accepted to AUTOMED 2021
Open access paper: https://arxiv.org/pdf/2104.06510
ICube AVR Laboratory webpage: https://avr.icube.unistra.fr/index.php/Accueil
MIMESIS Research team webpage: https://mimesis.inria.fr/
NEARLAB webpage: https://nearlab.polimi.it/
ALTAIR Robotics webpage: https://metropolis.scienze.univr.it/
Project webpage: https://hadrien.courtecuisse.cnrs.fr/home/projects/sperry/
Acknowledgement: This work was supported by French National Research
Agency (ANR) within the project SPERRY ANR-18-CE33-0007 and the
Investissements d’Avenir program (ANR-11-LABX-0004, Labex CAMI).