By Topic

Deformation simulation using a viscoelastic and nonlinear Organ model for control of a needle insertion manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)

This paper shows the viscoelastic and nonlinear organ deformation model for organ model-based control of needle insertion, in which the deformation of an organ is calculated intraoperatively and the needle is manipulated with organ deformation taken into consideration. An organ model including such detailed material characteristics is important to achieve the control method in question. Firstly, the material properties of the liver are modeled from the measured data and its viscoelastic characteristics are represented by differential equations, including the term of the fractional derivative. Nonlinearity in terms of the fractional derivative was measured, and modeled using the quadratic function of strain. Next, a solution of an FE model using such material properties is shown. We use sampling time scaling property as the solution for the viscoelastic system. The solution for a nonlinear system using the Modified Newton-Raphson method is also shown. Finally, the organ deformation, assuming the needle is inserted, is simulated using an organ model and the overall deformation and distribution of the strain is computed in these simulations.

Published in:

Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on

Date of Conference:

Oct. 29 2007-Nov. 2 2007