Developing a system to identify the material parameters of an organ model for surgical robot control

T. Hoshi, Y. Kobayashi, M. G. Fujie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

Accurate values of material parameters of human tissue are key elements in a surgical robot system using an organ deformation model. However, it is generally difficult to determine the values of the material parameters of human tissue to be input into the model, because the individual differences of these material properties make them inherently uncertain. In this work, we discuss a method for identifying the values of the material parameters of an organ model. This paper is also concerned with developing a method using the finite element method (FEM) and the extended Kalman filter in order to identify the values of the material parameters of an organ model. The effectiveness of the method was shown through physical experiments using a layered phantom, a three-dimensional deformation model by FEM, and ultrasound imaging equipment. The results of experiments showed that the proposed parameter-identification method improved the reproducibility of the simulation using organ models.

Original languageEnglish
Title of host publicationProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Pages730-735
Number of pages6
DOIs
Publication statusPublished - 2008
Event2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ
Duration: 2008 Oct 192008 Oct 22

Other

Other2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
CityScottsdale, AZ
Period08/10/1908/10/22

Fingerprint

Tissue
Finite element method
Extended Kalman filters
Robotic surgery
Materials properties
Identification (control systems)
Ultrasonics
Experiments
Imaging techniques

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Biomedical Engineering

Cite this

Hoshi, T., Kobayashi, Y., & Fujie, M. G. (2008). Developing a system to identify the material parameters of an organ model for surgical robot control. In Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 (pp. 730-735). [4762908] https://doi.org/10.1109/BIOROB.2008.4762908

Developing a system to identify the material parameters of an organ model for surgical robot control. / Hoshi, T.; Kobayashi, Y.; Fujie, M. G.

Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 730-735 4762908.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hoshi, T, Kobayashi, Y & Fujie, MG 2008, Developing a system to identify the material parameters of an organ model for surgical robot control. in Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008., 4762908, pp. 730-735, 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008, Scottsdale, AZ, 08/10/19. https://doi.org/10.1109/BIOROB.2008.4762908
Hoshi T, Kobayashi Y, Fujie MG. Developing a system to identify the material parameters of an organ model for surgical robot control. In Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 730-735. 4762908 https://doi.org/10.1109/BIOROB.2008.4762908
Hoshi, T. ; Kobayashi, Y. ; Fujie, M. G. / Developing a system to identify the material parameters of an organ model for surgical robot control. Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. pp. 730-735
@inproceedings{2c6a23a1397b409b9e8bd01ace0f8af9,
title = "Developing a system to identify the material parameters of an organ model for surgical robot control",
abstract = "Accurate values of material parameters of human tissue are key elements in a surgical robot system using an organ deformation model. However, it is generally difficult to determine the values of the material parameters of human tissue to be input into the model, because the individual differences of these material properties make them inherently uncertain. In this work, we discuss a method for identifying the values of the material parameters of an organ model. This paper is also concerned with developing a method using the finite element method (FEM) and the extended Kalman filter in order to identify the values of the material parameters of an organ model. The effectiveness of the method was shown through physical experiments using a layered phantom, a three-dimensional deformation model by FEM, and ultrasound imaging equipment. The results of experiments showed that the proposed parameter-identification method improved the reproducibility of the simulation using organ models.",
author = "T. Hoshi and Y. Kobayashi and Fujie, {M. G.}",
year = "2008",
doi = "10.1109/BIOROB.2008.4762908",
language = "English",
isbn = "9781424428830",
pages = "730--735",
booktitle = "Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008",

}

TY - GEN

T1 - Developing a system to identify the material parameters of an organ model for surgical robot control

AU - Hoshi, T.

AU - Kobayashi, Y.

AU - Fujie, M. G.

PY - 2008

Y1 - 2008

N2 - Accurate values of material parameters of human tissue are key elements in a surgical robot system using an organ deformation model. However, it is generally difficult to determine the values of the material parameters of human tissue to be input into the model, because the individual differences of these material properties make them inherently uncertain. In this work, we discuss a method for identifying the values of the material parameters of an organ model. This paper is also concerned with developing a method using the finite element method (FEM) and the extended Kalman filter in order to identify the values of the material parameters of an organ model. The effectiveness of the method was shown through physical experiments using a layered phantom, a three-dimensional deformation model by FEM, and ultrasound imaging equipment. The results of experiments showed that the proposed parameter-identification method improved the reproducibility of the simulation using organ models.

AB - Accurate values of material parameters of human tissue are key elements in a surgical robot system using an organ deformation model. However, it is generally difficult to determine the values of the material parameters of human tissue to be input into the model, because the individual differences of these material properties make them inherently uncertain. In this work, we discuss a method for identifying the values of the material parameters of an organ model. This paper is also concerned with developing a method using the finite element method (FEM) and the extended Kalman filter in order to identify the values of the material parameters of an organ model. The effectiveness of the method was shown through physical experiments using a layered phantom, a three-dimensional deformation model by FEM, and ultrasound imaging equipment. The results of experiments showed that the proposed parameter-identification method improved the reproducibility of the simulation using organ models.

UR - http://www.scopus.com/inward/record.url?scp=63049125581&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=63049125581&partnerID=8YFLogxK

U2 - 10.1109/BIOROB.2008.4762908

DO - 10.1109/BIOROB.2008.4762908

M3 - Conference contribution

AN - SCOPUS:63049125581

SN - 9781424428830

SP - 730

EP - 735

BT - Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

ER -