Identification of the Elastic Moduli of Tissues Using Reactive Force, 3D Medical Image, and Finite Element Analysis

在使用可变形器官模型的计算机辅助外科系统中，精确的人体组织弹性模量值是关键要素。在本研究项目中，我们开发了一种结合机器人测力、三维医学成像、有限元分析和非线性优化的弹性模数定量识别方法。利用组织模体和实验系统进行了实验，验证了该方法的有效性。实验结果表明，该方法能够同时识别组织的杨氏模数。

Accurate values of the elastic modulus of human tissues are key elements in a computer-aided surgical system using a deformable organ model. In this research project we developed a quantitative identification method for the elastic modulus, where combinations of robotic force measurement, three-dimensional medical imaging, finite element analysis, and nonlinear optimization are used. Experiments using tissue phantoms and experimental systems were carried out to verify the effectiveness of the proposed method. The experimental results demonstrate that the method is able to concurrently identify the Young's moduli of the tissues.