2014 Fiscal Year Final Research Report
High accuracy situation awareness needle insertion robot for minimally invasive breast cancer
Project/Area Number |
25750191
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Research Category |
Grant-in-Aid for Young Scientists (B)
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Allocation Type | Multi-year Fund |
Research Field |
Medical systems
|
Research Institution | Waseda University |
Principal Investigator |
ELGEZUA Inko 早稲田大学, 理工学術院, その他 (30625900)
|
Project Period (FY) |
2013-04-01 – 2015-03-31
|
Keywords | 医用ロボット |
Outline of Final Research Achievements |
In the present research we developed a statistical model of puncture force for classification of the type of tissue being punctured, a Bayesian classifier that uses these models to provide the needle insertion robot with awareness of the current situation, a real-time detection algorithm for puncture detection, and a model of the local value of the elastic modulus and friction between needle and tissue that allows us to understand needle tissue interaction, simulate tissue deformation and model the general shape of needle insertion to be able to predict how insertion force will evolve given some initial values. Except for the models for friction and elastic modulus, the results of this research are the ones proposed initially and can be considered that we reached our deliveries. This results have been published international peer-reviewed conferences and proved to be novel and of value for the research field of robotic needle insertion.
|
Free Research Field |
複合領域
|