Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns

Inko Elgezua, Yo Kobayashi, Masakatsu G. Fujie

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

3 Citations (Scopus)

Abstract

Incidence of cancer is growing worldwide according to statistics, what increments costs of national health systems and decreases quality of life of cancer patients. Percutaneous cancer treatments can reduce the physical burden of cancer patients due to its minimally invasiveness and allow to treat small size tumors. Robotic needle placement has been proposed to overcome the difficulties of manual needle placement, which has not enough accuracy. Until now, researchers have focused on developing deterministic models for pre or intra-operative control. In this paper, we propose a novel approach by extracting patterns in needle insertion force that can provide information about the current status of needle tissue interaction. In particular, we focus in estimating the non-linear local elastic modulus and friction status in real-time during needle insertion.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4315-4320
Number of pages6
ISBN (Print)9781479969340
DOIs
Publication statusPublished - 2014 Oct 31
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago
Duration: 2014 Sep 142014 Sep 18

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CityChicago
Period14/9/1414/9/18

Fingerprint

Needles
Elastic moduli
Tissue
Friction
Oncology
Tumors
Robotics
Health
Statistics
Costs

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Elgezua, I., Kobayashi, Y., & Fujie, M. G. (2014). Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns. In IEEE International Conference on Intelligent Robots and Systems (pp. 4315-4320). [6943172] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943172

Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns. / Elgezua, Inko; Kobayashi, Yo; Fujie, Masakatsu G.

IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4315-4320 6943172.

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

Elgezua, I, Kobayashi, Y & Fujie, MG 2014, Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns. in IEEE International Conference on Intelligent Robots and Systems., 6943172, Institute of Electrical and Electronics Engineers Inc., pp. 4315-4320, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, 14/9/14. https://doi.org/10.1109/IROS.2014.6943172
Elgezua I, Kobayashi Y, Fujie MG. Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns. In IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 4315-4320. 6943172 https://doi.org/10.1109/IROS.2014.6943172
Elgezua, Inko ; Kobayashi, Yo ; Fujie, Masakatsu G. / Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns. IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 4315-4320
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