Position control of needle tip with force feedback and liver model

Yo Kobayashi; Jun Okamoto; Masakatsu G. Fujie

doi:10.1016/j.ics.2005.03.212

Position control of needle tip with force feedback and liver model

Yo Kobayashi^*, Jun Okamoto, Masakatsu G. Fujie

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Contribution to journal › Article › peer-review

11 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	719-724
Number of pages	6
Journal	International Congress Series
Volume	1281
DOIs	https://doi.org/10.1016/j.ics.2005.03.212
Publication status	Published - 2005 May

Keywords

Liver
Modeling
Needle deflection
Needle insertion
Physical properties
Surgical robot

ASJC Scopus subject areas

Medicine(all)

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10.1016/j.ics.2005.03.212

Cite this

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title = "Position control of needle tip with force feedback and liver model",

abstract = "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.",

keywords = "Liver, Modeling, Needle deflection, Needle insertion, Physical properties, Surgical robot",

author = "Yo Kobayashi and Jun Okamoto and Fujie, {Masakatsu G.}",

year = "2005",

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T1 - Position control of needle tip with force feedback and liver model

AU - Kobayashi, Yo

AU - Okamoto, Jun

AU - Fujie, Masakatsu G.

PY - 2005/5

Y1 - 2005/5

N2 - 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.

AB - 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.

KW - Liver

KW - Modeling

KW - Needle deflection

KW - Needle insertion

KW - Physical properties

KW - Surgical robot

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SP - 719

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JO - International Congress Series

JF - International Congress Series

ER -

Position control of needle tip with force feedback and liver model

Abstract

Keywords

ASJC Scopus subject areas

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