NDLI: Photoelastic stress analysis error quantification in vasculature models for robot feedback control

Content Provider	IEEE Xplore Digital Library
Author	Tercero, C. Ikeda, S. Matsushima, M. Fukuda, T. Negoro, M. Takahashi, I.
Copyright Year	2010
Description	Author affiliation: Neurosurgery Department, Fujita Health University, Japan (Negoro, M.) \|\| Micro-nano Systems, Engineering Department, Nagoya University, Japan (Tercero, C.; Ikeda, S.; Matsushima, M.; Fukuda, T.) \|\| Neurosurgery Department, Anjo Kosei Hospital, Japan (Takahashi, I.)
Abstract	Real-time and accurate stress calculation in walls of vasculature is desired to provide catheter insertion robots of feedback control without changing the catheter stiffness and lumen. This feedback source has also applications in endovascular surgery simulation for human skills and medical tools evaluation. For that purpose we consider photoelastic effect, as birefringence produced by light retardation relates with the stress inside the photoelastic materials. In this research a polariscope was designed for urethane elastomer vasculature models, the photoelastic coefficient of urethane elastomer was measured, and the camera system was calibrated to quantify and reduce error of the measurement system. An average error of 3.6% was found for the pressure range of 70–189 mmHg inside the model of urethane elastomer, this enables to calculate accurately stress in vasculature models during Human Blood Pressure Simulation (HBPS). That way we will be able to compare in a closed loop stress produced by HBPS and by the catheter motion when manipulated by a robot.
Starting Page	3680
Ending Page	3685
File Size	697752
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509979
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Photoelasticity Stress Error analysis Error correction Robots Feedback control Catheters Medical robotics Humans Surgery
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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Photoelastic Stress Analysis Error Quantification in Vasculature Models for Robot Feedback Control

Distributed error handling and HRI

Human blood pressure simulation for photoelastic stress analysis in models of vasculature

Coordinated trajectory following for mobile manipulation

Kinematic error correction for minimally invasive surgical robots

Adjoint Jacobian closed-loop kinematic control of robots

Placing objects with multiple mobile robots-mutual help using intention inference

Controlling Swarms of Mobile Robots for Switching between Formations Using Synchronization Concept

Catheter Insertion Reference Trajectory Construction Method Using Photoelastic Stress Analysis for Quantification of Respect for Tissue During Endovascular Surgery Simulation

Photoelastic stress analysis error quantification in vasculature models for robot feedback control

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Photoelastic Stress Analysis Error Quantification in Vasculature Models for Robot Feedback Control

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Coordinated trajectory following for mobile manipulation

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Adjoint Jacobian closed-loop kinematic control of robots

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Photoelastic stress analysis error quantification in vasculature models for robot feedback control