NDLI: Direct and inverse problem models for large soft-tissue deformation: Application to haptic feedback in surgical simulation

Content Provider	IEEE Xplore Digital Library
Author	Tie Hu Desai, J.P. Lau, A.C.W.
Copyright Year	2005
Description	Author affiliation: Lab. of Program for Robotics Intelligent Sensing, & Mechatronics, Drexel Univ. (Tie Hu; Desai, J.P.; Lau, A.C.W.)
Abstract	Biomechanical model of soft tissue derived from experimental measurements is critical to develop a reality-based model for minimally invasive surgical training and simulation. We have focused on developing a biomechanical model of the liver with the ultimate goal of using this model for local tool-tissue interaction tasks and providing feedback to the surgeon through a haptic (sense of touch) display. It is of interest to develop a model of the soft tissue through probing experiments. An experimental apparatus was developed to perform both large probe compression test and the tissue probing test. The specimens were compressed to attain 30% nominal strain using a range of probing speeds (0.1016 mm/sec, 5.08 mm/sec, 12.70 mm/sec and 25.40 mm/sec). The compressive force-displacement curves were monotonic but highly nonlinear. Models consistent with experimental data were developed to characterize the deformation resistance of the soft tissue. Removing the assumption of incompressibility, an inverse-problem model can computationally determine the LEEM with axisymmetric finite element analysis. The sensitivity of LEEM on the tissue's compressibility (Poisson's ratio) was presented. Additionally, the variation of LEEM of pig liver with the probing speed was revealed. These results can be used to model soft-tissue deformation under varying probing speed by a surgical tool
Sponsorship	Univ. of Washington IEEE Robotics and Autom. Soc. Microsoft Coroware Inc
Starting Page	445
Ending Page	451
File Size	396789
Page Count	7
File Format	PDF
ISBN	0780391780
DOI	10.1109/ICAR.2005.1507448
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-18
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Inverse problems Deformable models Haptic interfaces Feedback Biological tissues Minimally invasive surgery Liver Testing Surges Displays
Content Type	Text
Resource Type	Article

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