Modeling of conditions where a puncture occurs during needle insertion considering probability distribution

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

18 被引用数 (Scopus)

抄録

Needle insertion treatments require accurate placement of the needle tip into the target cancer. However, it is difficult to insert the needle into the cancer because of cancer displacement due to the organ deformation. Then, a path planning using numerical simulation to analyze the deformation of the organ and the timing of puncture is important for the accurate needle insertion. In this study, we have explained the modeling of conditions where the puncture occurs. Firstly, this paper shows needle insertion experiments for the hog liver in order to measure the needle force and displacement where the puncture occurs. According to the experimental results, significant variations in puncture force were observed. Accordingly, we proposed a novel condition of the force causing a puncture considering probability distribution. We summarized variations of the puncture force in the experimental data and represented conditions where a puncture occurs with probability distribution models where the force is random variable. In addition, the boundary conditions and liver shapes are considered by analyzing the stress status near the needle. Then, we derived the conditions of the puncture with probability distribution models where the stress is random variable.

本文言語English
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ1433-1440
ページ数8
DOI
出版ステータスPublished - 2008
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice
継続期間: 2008 9月 222008 9月 26

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CityNice
Period08/9/2208/9/26

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
  • 制御およびシステム工学
  • 電子工学および電気工学

フィンガープリント

「Modeling of conditions where a puncture occurs during needle insertion considering probability distribution」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル