Developing a system to identify the material parameters of an organ model for surgical robot control

T. Hoshi*, Y. Kobayashi, M. G. Fujie

*この研究の対応する著者

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

Accurate values of material parameters of human tissue are key elements in a surgical robot system using an organ deformation model. However, it is generally difficult to determine the values of the material parameters of human tissue to be input into the model, because the individual differences of these material properties make them inherently uncertain. In this work, we discuss a method for identifying the values of the material parameters of an organ model. This paper is also concerned with developing a method using the finite element method (FEM) and the extended Kalman filter in order to identify the values of the material parameters of an organ model. The effectiveness of the method was shown through physical experiments using a layered phantom, a three-dimensional deformation model by FEM, and ultrasound imaging equipment. The results of experiments showed that the proposed parameter-identification method improved the reproducibility of the simulation using organ models.

本文言語English
ホスト出版物のタイトルProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
ページ730-735
ページ数6
DOI
出版ステータスPublished - 2008
イベント2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ
継続期間: 2008 10 192008 10 22

Other

Other2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
CityScottsdale, AZ
Period08/10/1908/10/22

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 生体医工学

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