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

ASJC Scopus subject areas

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

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    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