DISPOSITIF D'ASSISTANCE MÉDICALE, SYSTÈME ET PROCÉDÉ PERMETTANT DE DÉTERMINER UNE DÉFORMATION D'UN SUJET, PROGRAMME INFORMATIQUE, SUPPORT D'INFORMATIONS CORRESPONDANT LISIBLE SUR ORDINATEUR
The invention relates to a medical assistance device (1), a system (1, 2), a method (11) for determining a deformation of a subject (5, 6), a corresponding computer program (11), and a corresponding computer-readable storage medium (8). For the invention undisturbed image data of the subject (5, 6) and pose data of a robotic instrument (2) are acquired. The medical assistance device (1) is configured to determine the deformation of the subject (5, 6) due to a physical contact between the subject 5, 6) and the robotic instrument (2) based on a biomechanical model. The undisturbed image data and a pose and/or motion of the robotic instrument (2) are provided as input to the biomechanical model. The biomechanical model is predetermined or generated and/or updated based on a strain and/or a stiffness measured by a sensor system of the robotic instrument (2).
