Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns
Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns
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DOI：
10.1109/iros.2014.6943172
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发表时间：
2014-10
期刊：
影响因子：
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通讯作者：
I. Elgezua;Yo Kobayashi;M. Fujie
中科院分区：
文献类型：
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作者：
I. Elgezua;Yo Kobayashi;M. Fujie
据统计，癌症的发病率在全球范围内不断上升，这增加了国家卫生系统的成本，降低了癌症患者的生活质量。经皮肿瘤治疗可以减轻癌症患者的身体负担，因为它具有最小的侵袭性，并允许治疗小肿瘤。机器人布针是为了克服人工布针的困难，人工布针精度不够高。到目前为止，研究人员一直专注于开发用于术前或术中控制的确定性模型。在本文中，我们提出了一种新的方法，通过提取针插入力的模式来提供关于针组织相互作用的现状的信息。特别是，我们的重点是实时估计插针过程中的非线性局部弹性模数和摩擦状态。
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.