Surface deformation and reaction force estimation of liver tissue based on a novel nonlinear mass-spring-damper viscoelastic model.
Rheological soft tissue models play an important role in designing control methods for modern teleoperation systems. In the meanwhile, these models are also essential for creating a realistic virtual environment for surgical training. The implementation of model-based control in teleoperation has be...
| Publicado en: | Medical & Biological Engineering & Computing Vol. 54; no. 10; pp. 1553 - 1563 |
|---|---|
| Autores principales: | , , , |
| Formato: | Journal Article |
| Publicado: |
Springer Nature
Oct2016
|
| Acceso en línea: | Ver este registro en EBSCOhost |
| fields | @attributes: recordID: 1 pdfLink: plink: https://search.ebscohost.com/login.aspx?direct=true&db=ccm&AN=118173080&site=ehost-live header: @attributes: shortDbName: ccm uiTerm: 118173080 longDbName: CINAHL Complete uiTag: AN controlInfo: bkinfo: dissinfo: jinfo: jid: 01400118 PO0 jtl: Medical & Biological Engineering & Computing issn: 01400118 maglogo: N pubinfo: dt: Oct2016 vid: 54 iid: 10 pid: 237 pub: Springer Nature place: New York, New York artinfo: ui: 118173080 118173080 NLM26718552 10.1007/s11517-015-1434-0 NLM26718552 118173080 ppf: 1553 ppct: 10 formats: fmt: @attributes: type: P tig: atl: Surface deformation and reaction force estimation of liver tissue based on a novel nonlinear mass-spring-damper viscoelastic model. aug: au: Takács, Árpád Rudas, Imre Haidegger, Tamás Takács, Árpád Rudas, Imre J Haidegger, Tamás affil: ABC-iROB , Óbuda University , Budapest Hungary sug: subj: Chaos Theory Liver Physiology Elasticity Surface Properties ab: Rheological soft tissue models play an important role in designing control methods for modern teleoperation systems. In the meanwhile, these models are also essential for creating a realistic virtual environment for surgical training. The implementation of model-based control in teleoperation has been a frequently discussed topic in the past decades, offering solutions for the loss of stability caused by time delay, which is one of the major issues in long-distance force control. In this paper, mass-spring-damper soft tissue models are investigated, showing that the widely used linear models do not represent realistic behavior under surgical manipulations. A novel, nonlinear model is proposed, where mechanical parameters are estimated using curve fitting methods. Theoretical reaction force curves are estimated using the proposed model, and the results are verified using measurement results from uniaxial indentation. The model is extended with force estimation by nonuniform surface deformation, where the surface deformation function is approximated according to visual data. Results show that using the proposed nonlinear model, a good estimation of reaction force can be achieved within the range of 0-4 mm, provided that the tissue deformation shape function is appropriately approximated. pubtype: Academic Journal doctype: Journal Article ougenre: Article language: English refInfo: holdings: @attributes: islocal: N |
|---|