Physical properties of the liver and the development of an intelligent manipulator for needle insertion

Yo Kobayashi, Jun Okamoto, Masakatsu G. Fujie

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

36 Citations (Scopus)

Abstract

Medical procedures such as RFA and cryosurgery require the insertion of a needle into the target area within the body. Needle insertion is difficult because it can easily result in organs being deformed and displaced. This research aims to produce an intelligent robot for needle insertion, incorporating the following three techniques, A: visual feedback B: organ-model base control C: force control. This research uses a robot model and a liver for the target object to evaluate organmodel base control. For the purpose of organ-model base control, three experiments were conducted to evaluate the physical properties of the liver for robot control. A dynamic viscoelastic test was then carried out to show the dynamic properties of the liver in the form of a differential equation. The nonlinearity of the liver was supported by the creep test while an axial needle insertion test was also carried out to model the force and the extent of deformation experienced during needle insertion. In addition, an intelligent needle insertion robot was developed for the purpose of the experimentation concerning intelligent control of the needle. The experimental result displayed the margin error between the needle tip and target marker when the needle reaches the target position was around 1[mm] and a result led to positive findings.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1632-1639
Number of pages8
Volume2005
DOIs
Publication statusPublished - 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona
Duration: 2005 Apr 182005 Apr 22

Other

Other2005 IEEE International Conference on Robotics and Automation
CityBarcelona
Period05/4/1805/4/22

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Keywords

  • Intelligent robot
  • Modelling
  • Needle insertion
  • Physical property
  • Surgical robot

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Kobayashi, Y., Okamoto, J., & Fujie, M. G. (2005). Physical properties of the liver and the development of an intelligent manipulator for needle insertion. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2005, pp. 1632-1639). [1570347] https://doi.org/10.1109/ROBOT.2005.1570347