DocumentCode :
3171221
Title :
Method to generate distribution maps of the material parameters of the human body using robotic and dynamic simulation systems
Author :
Hoshi, Takeharu ; Kobayashi, Yo ; Fujie, Masakatsu G.
Author_Institution :
Waseda Unversity, Tokyo, Japan
fYear :
2009
fDate :
29-29 Jan. 2009
Firstpage :
60
Lastpage :
66
Abstract :
The present paper proposes a new method by which to generate distribution maps of the material parameters of the human body for use in medical applications. In addition, a system design concept to realize the proposed method is presented, wherein the system integrates a robotic component and a numerical simulation component. The robotic component is used to measure the contact force and displacement at each point on the human body contacted by a robotic probe. The numerical simulation component generates an optimal distribution map of the material parameters using the proposed method, where three data are used, namely, (1) the measured data from the robotic part, (2) simulated deformation data obtained by the finite element method, and (3) distribution map data obtained using distribution models. In order to validate the proposed method, we implemented a virtual system including a sensing robot and a human body. We conducted numerical simulation experiments using this virtual system, and the results of experiments showed that optimal distribution maps were accurately generated.
Keywords :
finite element analysis; medical robotics; surgery; deformation data; distribution maps; distribution model; dynamic simulation systems; finite element method; human body; material parameters; medical applications; numerical simulation; optimal distribution map; robotic component; robotic surgery; robotic systems; sensing robot; system design concept; virtual system; Biological system modeling; Biomedical equipment; Deformable models; Force measurement; Humans; Medical robotics; Medical services; Medical simulation; Numerical simulation; Robot sensing systems; Human tissue model; Material properties; Robotic surgery; Surgical simulation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
System Integration, 2009. SII 2009. IEEE/SICE International Symposium on
Conference_Location :
Tokyo
Print_ISBN :
978-1-4244-5908-7
Type :
conf
DOI :
10.1109/SI.2009.5384554
Filename :
5384554
Link To Document :
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