Physical properties of the liver for needle insertion control

Yo Kobayashi, Jun Okamoto, Masakatsu G. Fujie

研究成果: Conference contribution

24 被引用数 (Scopus)

抄録

Medical procedures such as RFA and cryosurgery require inserting a needle into the target location inside the body. Needle insertion is difficult because it is easy for organs to be deformed and displaced. Modeling the target object is essential in analyzing and developing a control system. Thus, a precise model is required to develop an intelligent robot that is able to insert the needle into the target area. This research uses a robot model and a liver for the target object. Four experiments were conducted to show the physical properties of the liver for robot control. A dynamic viscoelastic test was carried out to show the dynamic properties of the liver as a differential equation. The nonlinearity of the liver was supported by the creep test. In addition, the liver model was validated using a constant strain rate test A needle insertion test was also carried out to validate the model.

本文言語English
ホスト出版物のタイトル2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ページ2960-2966
ページ数7
3
出版ステータスPublished - 2004
イベント2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai
継続期間: 2004 9 282004 10 2

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CitySendai
Period04/9/2804/10/2

ASJC Scopus subject areas

  • 工学(全般)

フィンガープリント

「Physical properties of the liver for needle insertion control」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