The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Modeling of needle insertion forces for robot-assisted percutaneous therapy
Abstract
Force information from needle insertions was measured and modeled for use in robot-assisted percutaneous therapies. Data was collected on bovine livers using the Johns Hopkins University Steady Hand Robot, and modeled in three parts: force due to capsule stiffness, friction, and cutting. Capsule stiffness is modeled by a nonlinear spring model, friction by a modified Karnopp model, and cutting by the remaining forces, which appear to be constant for a given tissue sample. During robot-assisted procedures, real-time force data can be compared to these models to control puncture of interior structures.
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Citations
Cites
A Steady-Hand Robotic System for Microsurgical Augmentation
Taylor, R., Jensen, P., Whitcomb, L., Barnes, A., Kumar, R., Stoianovici, D., Gupta, P., Wang, Z., Dejuan, E., & Kavoussi, L. (1999) · The International Journal of Robotics Research · doi:10.1177/02783649922067807 · Cited by 528
Realistic force feedback for virtual reality based diagnostic surgery simulators
Vuskovic, V., Kauer, M., Szekely, G., & Reidy, M. (2002) · Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) · doi:10.1109/robot.2000.844824 · Cited by 71
Cited by
Needle insertion modeling and simulation
DiMaio, S. P., & Salcudean, S. E. (2003) · IEEE Transactions on Robotics and Automation · doi:10.1109/tra.2003.817044 · Cited by 518
Metadata
- Authors
- Simone, C., & Okamura, A. M.
- Venue
- Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
- Publisher
- IEEE
- Published
- 2003-06-25
- Volume
- 2
- Pages
- 2085-2091
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2170354816
- Cited by
- 200
- References
- 2
- FWCI
- 22.07
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Simone, C., & Okamura, A. M. (2003). Modeling of needle insertion forces for robot-assisted percutaneous therapy. Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292). https://doi.org/10.1109/robot.2002.1014848
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Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
