Modeling of friction force based on relative velocity between liver tissue and needle for needle insertion simulation

Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009

Volumn , Issue , 2009, Pages 5274-5278

  Kobayashi, Yo ^a,b   Sato, Takahiro ^a   Fujie, Masakatsu G ^a  

^a WASEDA UNIVERSITY   (Japan)

^b NONE   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

DEFORMATION; DISEASES; FRICTION; MOTION PLANNING; TISSUE; VELOCITY;

EVALUATION EXPERIMENTS; FRICTION FORCE; FRICTIONAL FORCES; IDENTICAL CONDITIONS; NEEDLE INSERTION; ORGAN DEFORMATION; RELATIVE VELOCITY; VELOCITY DEPENDENCE;

NEEDLES;

EID: 77950993968     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IEMBS.2009.5334078     Document Type: Conference Paper

References (17)

1. Y. Kobayashi, A. Onishi, T. Hoshi, K. Kawamura and M. G. Fujie, "In Vitro Validation of a Viscoelastic and Nonlinear Liver Model for Needle Insertion", in Proceedings of 2008 IEEE Biomedical Robotics and Biomechatronics, pp.469-476, 2008
2. Y. Kobayashi, A. Onishi, T. Hoshi, K. Kawamura and M. G. Fujie, "A Study on Modeling of Conditions where Punctures Occur during Needle Insertion with considerations of Probabilistic Distribution", in Proceedings of 2008 IEEE International Conference on Intelligent Robots and Systems, pp.1433-1440 ,2008
3. Y. Kobayashi, A. Onishi, H. Watanabe, T. Hoshi, K. Kawamura and M. G. Fujie, "Developing a Planning Method for Straight Needle Insertion using Probability-Based Condition where a Puncture Occurs", in Proceedings of 2009 IEEE International Conference on Robotics and Automation, (accepted)
4. R.Alterovitz, K. Goldberg, and A. Okamura, "Planning for Steerable Bevel-Tip Needle Insertion through 2D Soft Tissue with Obstacles", In IEEE International Conference on Robotics and Automation (2005), pp.1652-1657,2005
5. S.P.DiMaio and S.E.Salcudean "Needle Insertion Modelling and Simulation", In IEEE Transaction on Robotics and automation,Vol. 19, No.5, pp864-875, 2003
6. S.P.DiMaio and S.E.Salcudean "Interactive Simulation of Needle Insertion Model", In IEEE Transaction on Biomedical Engineering,Vol. 52, No.7, pp.1167-1179, 2005
7. E.Dehghan, S.E.Salcudean, "Needle Insertion Point and Orientation Optimization in Non-linear Tissue with Application to Brachytherapy", in 2007 IEEE International Conference on Robotics and Automation, pp.2267-2272, 2007
8. H. Kataoka, T. Washio, M. Audette, and K. Mizuhara, "A Model for Relations between Needle Deflection, Force, and Thickness on Needle Penetration" , In proceedings of Medical Image Computing and Computer Assisted Intervention (2001), pp.966-974,2001
9. H. Kataoka, , T. Washio, K. Chinzei, K. Mizuhara, , C. Simone, A.M.Okamura, "Measurement of the Tip and Friction Force Acting on a Needle during Penetration", In proceedings of Medical Image Computing and Computer Assisted Intervention (2002), pp. 216-223
10. N. Abolhassani, R. Patel and M. Moallem, "Trajecory Generation for Robotic Needle Insertion in Soft Issue", In IEEE International Conference of the EMBS, pp.2730-2733, 2004
11. 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), pp.2085-2091,2002
12. M.D.O'Leary, 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), pp.1774-1780,2003
13. A.M.Okamura, C.Simone and M.D.O'Leary, "Force modeling for needle insertion into soft tissue", In IEEE Transaction on Biomedical Engineering,Vol. 51, No.10, pp.1707-1716, 2004
14. M. Heverly, P. Dupont, J. Triedman, "Trajectory Optimization for Dynamic Needle Insertion", In IEEE International Conference on Robotics and Automation (2005), pp.1646- 1651, 2005
15. T. K. Podder, J. Sherman, D. P. Clark, E. M. Messing, D.J. Rubens, J.G. Strang, L. Liao, R. A. Brasacchio, Y. Zhang, W.S. Ng, Y. Yu, "Evaluation of robotic needle insertion in conjunction with in vivo manual insertion in the operating room", in IEEE International Workshop on Robot and Human Interactive Communication(2005), pp. 66- 72, 2005
16. L. Barbe , B. Bayle , M. de Mathelin and A. Gangi, "Online Robust Model Estimation and Haptic Clues Detection during In Vivo Needle Insertions", in IEEE International Confference on Biomedical Robotics and Biomechatronics (2006), pp. 341-346, 2006
17. L. Barbe , B. Bayle , M. de Mathelin and A. Gangi, "In Vivo Model Estimation and Haptic Characterization of Needle Insertions", The International Journal of Robotics Research(2007), Vol.26, No.11-12, pp. 1283-1301, 2007