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

Inko Elgezua; Yo Kobayashi; Masakatsu G. Fujie

doi:10.1109/IROS.2014.6943172

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

Inko Elgezua, Yo Kobayashi, Masakatsu G. Fujie

Waseda Research Institute for Science and Engineering

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

7 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4315-4320
Number of pages	6
ISBN (Print)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6943172
Publication status	Published - 2014 Oct 31
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago Duration: 2014 Sept 14 → 2014 Sept 18

Other

Other	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
City	Chicago
Period	14/9/14 → 14/9/18

ASJC Scopus subject areas

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

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/IROS.2014.6943172

Cite this

Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns. / Elgezua, Inko; Kobayashi, Yo; Fujie, Masakatsu G.
IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4315-4320 6943172.

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

Elgezua, I, Kobayashi, Y & Fujie, MG 2014, Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns. in IEEE International Conference on Intelligent Robots and Systems., 6943172, Institute of Electrical and Electronics Engineers Inc., pp. 4315-4320, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, 14/9/14. https://doi.org/10.1109/IROS.2014.6943172

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abstract = "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.",

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AB - 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.

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

Abstract

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ASJC Scopus subject areas

UN SDGs

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