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

T. Hoshi; Y. Kobayashi; M. G. Fujie

doi:10.1109/BIOROB.2008.4762908

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

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

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Pages	730-735
Number of pages	6
DOIs	https://doi.org/10.1109/BIOROB.2008.4762908
Publication status	Published - 2008
Event	2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ Duration: 2008 Oct 19 → 2008 Oct 22

Other

Other	2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
City	Scottsdale, AZ
Period	08/10/19 → 08/10/22

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Biomedical Engineering

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10.1109/BIOROB.2008.4762908

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Developing a system to identify the material parameters of an organ model for surgical robot control. / Hoshi, T.; Kobayashi, Y.; Fujie, M. G.
Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 730-735 4762908.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hoshi, T, Kobayashi, Y & Fujie, MG 2008, Developing a system to identify the material parameters of an organ model for surgical robot control. in Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008., 4762908, pp. 730-735, 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008, Scottsdale, AZ, 08/10/19. https://doi.org/10.1109/BIOROB.2008.4762908

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

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