Abstract: A cannula insertion system includes: a contact sensor positioning system arranged to determine a suitable location for insertion of the cannula, where the contact sensor positioning system includes: a contact sensor having a contact surface to be placed at least partially on the human or animal body to enable measurement with the contact sensor, a positioning device configured to support and position the contact sensor, and a control device arranged to control the positioning device to position the contact sensor in a desired position. The contact sensor positioning system includes one or more sensors to determine a position and/or contact force related parameter representative for a position and/or contact force of the contact sensor, and a processing device to process the position and/or contact force related parameter and to provide a position control signal to the control device, where the contact sensor is an imaging sensor.

Abstract: A cannula insertion system includes: a contact sensor positioning system arranged to determine a suitable location for insertion of the cannula, where the contact sensor positioning system includes: a contact sensor having a contact surface to be placed at least partially on the human or animal body to enable measurement with the contact sensor, a positioning device configured to support and position the contact sensor, and a control device arranged to control the positioning device to position the contact sensor in a desired position. The contact sensor positioning system includes one or more sensors to determine a position and/or contact force related parameter representative for a position and/or contact force of the contact sensor, and a processing device to process the position and/or contact force related parameter and to provide a position control signal to the control device, where the contact sensor is an imaging sensor.

Abstract: A cannula insertion system to insert a cannula into a human or animal body, includes: one or more sensors to determine a suitable location for insertion of the cannula, a cannula insertion device configured to insert the cannula into the human or animal body, a cannula insertion device positioning system to support and position the cannula insertion device, and a control device arranged to control the positioning system to position, on the basis of the determined location for insertion of the cannula, the cannula insertion device in a suitable position to insert the cannula into human or animal body, where the cannula insertion system includes a blood collection system to collect blood in one or more blood collection tubes supported by the blood collection system, where the blood collection system is movably arranged to at least partly follow movements of the cannula insertion device.

Abstract: A computer-implemented method of generating a 3D model for dental simulation, comprising reading a file describing the surface of a 3D object having a volume; generating a voxel grid encompassing the 3D object, wherein the voxel grid contains a plurality of voxels; identifying a subset of voxels of the plurality of voxels which are located within the volume of the 3D object; generating a triangulated surface, wherein the triangulated surface encompasses the subset of voxels and defines the outer surface of the 3D model; assigning a density value to each voxel in the subset of voxels, wherein the subset of voxels defines the solid volume of the 3D model.

Abstract: A computer-implemented method of generating a 3D model for dental simulation, comprising reading a file describing the surface of a 3D object having a volume; generating a voxel grid encompassing the 3D object, wherein the voxel grid contains a plurality of voxels; identifying a subset of voxels of the plurality of voxels which are located within the volume of the 3D object; generating a triangulated surface, wherein the triangulated surface encompasses the subset of voxels and defines the outer surface of the 3D model; assigning a density value to each voxel in the subset of voxels, wherein the subset of voxels defines the solid volume of the 3D model.

Abstract: A cannula insertion system includes: a contact sensor positioning system arranged to determine a suitable location for insertion of the cannula, where the contact sensor positioning system includes: a contact sensor having a contact surface to be placed at least partially on the human or animal body to enable measurement with the contact sensor, a positioning device configured to support and position the contact sensor, and a control device arranged to control the positioning device to position the contact sensor in a desired position. The contact sensor positioning system includes one or more sensors to determine a position and/or contact force related parameter representative for a position and/or contact force of the contact sensor, and a processing device to process the position and/or contact force related parameter and to provide a position control signal to the control device, where the contact sensor is an imaging sensor.

Abstract: A computer-implemented method of generating a 3D model for dental simulation, comprising reading a file describing the surface of a 3D object having a volume; generating a voxel grid encompassing the 3D object, wherein the voxel grid contains a plurality of voxels; identifying a subset of voxels of the plurality of voxels which are located within the volume of the 3D object; generating a triangulated surface, wherein the triangulated surface encompasses the subset of voxels and defines the outer surface of the 3D model; assigning a density value to each voxel in the subset of voxels, wherein the subset of voxels defines the solid volume of the 3D model.