Reaction force and surface deformation estimation based on heuristic tissue models

Arpad Takacs, Tamas Haidegger, I. Rudas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Advanced surgical robotic systems aim to offer improved capabilities through automated low-level functions. In the applications, soft tissue mechanics and tool-tissue interaction modeling play an important role in achieving optimal control, relying on model-based control methods. This approach allows for addressing crucial issues during teleoperation, such as time-delay, state observation or stability. This paper presents a novel approach for modeling the behavior of soft tissue during surgical interventions, relying on the widely-employed concept of rheological models. The nonlinear Wiecher model is used for reaction force estimation during tissue indentation, tested on beef liver samples for acquiring mechanical parameters from experimental data. Curve fitting methods were used in both stress relaxation and constant indentation speed compression phases. Reaction forces are estimated using the proposed model, followed by verification tests on ex-vivo beef liver samples. The results of this research showed that the proposed novel rheological soft tissue model is capable of estimating the reaction forces acting on the tool, if the shape of the deformed tissue is known in time. This model can be successfully integrated into closed-loop surgical robot controllers.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3888-3893
Number of pages6
ISBN (Electronic)9781509018970
DOIs
Publication statusPublished - Feb 6 2017
Event2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary
Duration: Oct 9 2016Oct 12 2016

Other

Other2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
CountryHungary
CityBudapest
Period10/9/1610/12/16

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ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Artificial Intelligence
  • Control and Optimization
  • Human-Computer Interaction

Cite this

Takacs, A., Haidegger, T., & Rudas, I. (2017). Reaction force and surface deformation estimation based on heuristic tissue models. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings (pp. 3888-3893). [7844841] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2016.7844841