1A1-C18 拡張カルマンフィルタを用いた臓器変形モデルの弾性率値推定(手術支援ロボティクス・メカトロニクス)

概要

論文の詳細を見る
Accurate values of material parameters of human tissue are key elements in surgical robot system using an organ deformation model. However, it is generally difficult to determine the material values of human tissue to input into the model, because the material properties of human tissues are inherently uncertain because of their individual differences. In this work, we discussed the method for identifying the values of the material parameter of an organ model. This paper is concerned with developing a method using the Finite Element Method and the Extended Kalman Filter to identify the values of material parameters of an organ model. The effectiveness of the method was shown through physical experiment using a phantom. As a result of experiment, it was shown that the material parameters of the organ model were identified.
一般社団法人日本機械学会の論文
2008-06-06