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

^*この研究の対応する著者

理工学術院総合研究所

研究成果: Article › 査読

10 被引用数 (Scopus)

抄録

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.

本文言語	English
ページ（範囲）	719-724
ページ数	6
ジャーナル	International Congress Series
巻	1281
DOI	https://doi.org/10.1016/j.ics.2005.03.212
出版ステータス	Published - 2005 5月

ASJC Scopus subject areas

医学（全般）

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10.1016/j.ics.2005.03.212

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引用スタイル

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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

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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

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