Deformation simulation using a viscoelastic and nonlinear organ model for control of a needle insertion manipulator

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

*この研究の対応する著者

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

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 is computed in these simulations.

本文言語English
ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
ページ1801-1808
ページ数8
DOI
出版ステータスPublished - 2007
イベント2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA
継続期間: 2007 10 292007 11 2

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CitySan Diego, CA
Period07/10/2907/11/2

ASJC Scopus subject areas

  • 制御およびシステム工学

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