Physical properties of the liver for needle insertion control

Yo Kobayashi, Jun Okamoto, Masakatsu G. Fujie

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

24 Citations (Scopus)

Abstract

Medical procedures such as RFA and cryosurgery require inserting a needle into the target location inside the body. Needle insertion is difficult because it is easy for organs to be deformed and displaced. Modeling the target object is essential in analyzing and developing a control system. Thus, a precise model is required to develop an intelligent robot that is able to insert the needle into the target area. This research uses a robot model and a liver for the target object. Four experiments were conducted to show the physical properties of the liver for robot control. A dynamic viscoelastic test was carried out to show the dynamic properties of the liver as a differential equation. The nonlinearity of the liver was supported by the creep test. In addition, the liver model was validated using a constant strain rate test A needle insertion test was also carried out to validate the model.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages2960-2966
Number of pages7
Volume3
Publication statusPublished - 2004
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai
Duration: 2004 Sep 282004 Oct 2

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CitySendai
Period04/9/2804/10/2

Keywords

  • Component: modeling
  • FEM
  • Intelligent robot
  • Needle insertion
  • Physical property
  • Surgical robot

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Kobayashi, Y., Okamoto, J., & Fujie, M. G. (2004). Physical properties of the liver for needle insertion control. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Vol. 3, pp. 2960-2966)