Physical properties of the liver and the development of an intelligent manipulator for needle insertion

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 1632-1639

  Kobayashi, Yo ^a   Okamoto, Jun ^a   Fujie, Masakatsu G ^a  

^a WASEDA UNIVERSITY   (Japan)

Author keywords

Intelligent robot; Modelling; Needle insertion; Physical property; Surgical robot

Indexed keywords

BIOLOGICAL ORGANS; CRYOSURGERY; FORCE CONTROL; MACHINE DESIGN; MANIPULATORS; NEEDLES; PHYSICAL PROPERTIES;

LIVER; NEEDLE INSERTION; SURGICAL ROBOTS; VISCOELASTIC TEST;

INTELLIGENT ROBOTS;

EID: 33846153251     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570347     Document Type: Conference Paper

References (16)

1. Intuitive Surgical "http://www.intuitivesurgical.com/index. html"
2. Fujio Tajima, Kousuke Kishi, Kouji Nishizawa, Kazutoshi Kan, Yasuhiro Nemoto, Haruo Takeda et al, "Development of MR Compatible Surgical Manipulator toward a Unified Support System for Diagnosis and Treatment of Heart Disease" In Medical Image Computing and Computer Assisted Intervention (2002) 83-90
3. Alexandru Patriciu,Dumitru Mazilu, Doru Petrisor, Louis Kavoussi, and Dan Stoianovici "Automatic Targeting Method and Accuracy Study in Robot Assited Needle Procedure" In Medical Image Computing and Computer Assisted Intervention (2003) 124-131
4. The IUPS Physiome Project "http://www.bioeng.auckland.ac.nz/ physiome/physiom
5. C.Eline Paloc, Fernando Bello, Richard I.Kitney and Ara Darzi "Online Multiresolusion Volumetric Mass Spring Model for Real Time Soft Tissue Deformation" In Medical Image Computing and Computer Assisted Intervention (2002) 219-226e_project.php"
6. C.Eline Paloc, Fernando Bello, Richard I.Kitney and Ara Darzi "Online Multiresolusion Volumetric Mass Spring Model for Real Time Soft Tissue Deformation" In Medical Image Computing and Computer Assisted Intervention (2002) 219-226
7. Stoffen Markle,Alla Gothan and Holger Gothan "Interactive Simulation of Soft-Tissue for Surgery Training" In Computer Assisted Radiology and Surgery (1999) 855-859
8. U.Meier, F.J.Garcia, N.C.Parr, C.Monserrat, J.A.Gil, V.Grau, M.C.Juan and M.Alcaniz "3D surgical trainer with force feedback in minimally invasive surgery" In Conputer Assisted Radiology and Surgery (2001) 33-39
9. Y.Tillier, A.Paccini, M.Durand-Reville, F.Bay and J.L.Chenot "Three-dimensional finite element modeling for soft tissues surgery" In Conputer Assisted Radiology and Surgery (2003)
10. R.Alterovitz, J.Pouliot, R.Tsschereau, I-C.JHsu and K.Goldberg: "Needle Insertion and Radioactive Seed Implantation in Human Tissue: Simulation and Sensitivity Analysis," In IEEE International Conference on Robotics and Automation (2003)
11. R.Alterovitz, J.Pouliot, R.Tsschereau, I-C.JHsu and K.Goldberg "Sensorless Planning for Medical Needle Insertion Procedure" In International Conference on Intelligent Robots and Systems (2003)
12. S.P.DiMaio and S.E.Salcudean "Needle steering Model-Based Trajectory Planning" In Medical Image Computing and Computer Assisted Intervention (2003).
13. S.P.DiMaio and S.E.Salcudean "Needle Insertion Modelling and Simulation" In IEEE Transaction on Robotics and automation October (2003)
14. C.Simone and A.M.Okamura "Modeling of Needle Insertion Forces for Robot-assisted Percutaneous Therapy" In IEEE International Conference on Robotics and Automation (2002)
15. M.D.O'Leary, C.Simone, T.Washio, K.Yoshinaka, and M.Okamura "Robotic Needle Insertion:Effects of Friction and Needle Geometry" In :IEEE International Conference on Robotics and Automation (2003)
16. Y.C.Fung "Biomechanics-Mechanical properties of living tissuemechanical property" (1993)