Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns

Inko Elgezua, Yo Kobayashi, Masakatsu G. Fujie

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

Incidence of cancer is growing worldwide according to statistics, what increments costs of national health systems and decreases quality of life of cancer patients. Percutaneous cancer treatments can reduce the physical burden of cancer patients due to its minimally invasiveness and allow to treat small size tumors. Robotic needle placement has been proposed to overcome the difficulties of manual needle placement, which has not enough accuracy. Until now, researchers have focused on developing deterministic models for pre or intra-operative control. In this paper, we propose a novel approach by extracting patterns in needle insertion force that can provide information about the current status of needle tissue interaction. In particular, we focus in estimating the non-linear local elastic modulus and friction status in real-time during needle insertion.

本文言語English
ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4315-4320
ページ数6
ISBN(印刷版)9781479969340
DOI
出版ステータスPublished - 2014 10 31
イベント2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago
継続期間: 2014 9 142014 9 18

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CityChicago
Period14/9/1414/9/18

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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