Viscoelastic and nonlinear organ model for control of needle insertion manipulator

Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie

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

13 Citations (Scopus)

Abstract

this paper shows the viscoelastic and nonlinear organ deformation model for organ model-based control of needle insertion, in which the deformation of an organ is calculated intraoperatively and the needle is manipulated with organ deformation taken into consideration. An organ model including such detailed material characteristics is important to achieve the control method in question. Firstly, the material properties of the liver are modeled from the measured data and its viscoelastic characteristics are represented by differential equations, including the term of the fractional derivative. Nonlinearity in terms of the fractional derivative was measured, and modeled using the quadratic function of strain. Next, a solution of an FE model using such material properties is shown. We use sampling time scaling property as the solution for the viscoelastic system. The solution for a nonlinear system using the Modified Newton-Raphson method is also shown. Finally, the organ deformation, assuming the needle is inserted, is simulated using an organ model and the overall deformation and distribution of the strain at each element is computed in these simulations.

Original languageEnglish
Title of host publicationAnnual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
Pages1242-1248
Number of pages7
DOIs
Publication statusPublished - 2007
Event29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07 - Lyon
Duration: 2007 Aug 232007 Aug 26

Other

Other29th Annual International Conference of IEEE-EMBS, Engineering in Medicine and Biology Society, EMBC'07
CityLyon
Period07/8/2307/8/26

ASJC Scopus subject areas

  • Biomedical Engineering

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  • Cite this

    Kobayashi, Y., Onishi, A., Hoshi, T., Kawamura, K., & Fujie, M. G. (2007). Viscoelastic and nonlinear organ model for control of needle insertion manipulator. In Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings (pp. 1242-1248). [4352522] https://doi.org/10.1109/IEMBS.2007.4352522