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JRM Vol.18 No.2 pp. 167-176
doi: 10.20965/jrm.2006.p0167
(2006)

Paper:

Position Control of Needle Tip Based on Physical Properties of Liver and Force Sensor

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

*Graduate school of Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan

**Dept. of Mechanical Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan

Received:
November 1, 2005
Accepted:
January 23, 2006
Published:
April 20, 2006
Keywords:
needle insertion, physical properties, surgical robot, needle deflection, force control
Abstract

Medical procedures such as RFA and cryosurgery require needle insertion, which is difficult because it can easily result in organs being deformed and displaced. In addition, Because deflection occurs more easily with thin needles, needle deflection must be considered. We developed an intelligent robot for needle insertion, incorporating visual feedback, force control, and organ-model-based control. Two experiments were evaluating hepatic properties for organ-model-based robot control. And a dynamic viscoelastic test was done to show dynamic hepatic properties as a differential equation. Their nonlinearity was supported by a creep test. And, this paper shows the deflection correction with (a) the force sensor only, (b) liver model only, (c) both force sensor and liver model is done to control the position of the needle tip. The experimental result shows that using (c) gives optimal effectiveness among the proposed approaches.

Cite this article as:
Y. Kobayashi, J. Okamoto, and M. Fujie, “Position Control of Needle Tip Based on Physical Properties of Liver and Force Sensor,” J. Robot. Mechatron., Vol.18, No.2, pp. 167-176, 2006.
Data files:
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Last updated on Feb. 20, 2020