Position control of needle tip with force feedback and liver model

Yo Kobayashi*, Jun Okamoto, Masakatsu G. Fujie

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


Because the deflection is easier to occur with thin needle, the movement of the needle in consideration of the deflection is required. The deflection correction with (a) the force feedback, (b) liver model (c) force feedback and liver model is carried out to control the position of the needle tip. The experimental result shows the method using (c) represents optimal effectiveness of all the proposed approaches.

Original languageEnglish
Pages (from-to)719-724
Number of pages6
JournalInternational Congress Series
Publication statusPublished - 2005 May


  • Liver
  • Modeling
  • Needle deflection
  • Needle insertion
  • Physical properties
  • Surgical robot

ASJC Scopus subject areas

  • Medicine(all)


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