書誌事項
- タイトル別名
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- Extra-fine Needle Deflection Modeling Considering Needle Stiffness and Tissue Resistance for Needle Tip Direction Control in Re-Insertion
説明
<p>It is important to aim for minimally invasive and highly efficient procedures with insertion robots. In this paper, we modeled the manual technique in order to introduce the puncture error correction method used in the manual procedure to the robot. In modeling, we considered that the state of the needle in the tissue is determined by the rotational motion of the needle and the mechanical interaction between the needle and the tissue. The tissue resistance was assumed to be an equivariant distributed load. To validate the model, we compared the shape of the needle bent in a PVC phantom with that of the model. The results showed that the error was less than 3 mm in all trials, which is within the acceptable range. This suggests the usefulness of the model presented in this study.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2023 (0), 2P2-C11-, 2023
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390298919731573120
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
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- 抄録ライセンスフラグ
- 使用不可