Parameter estimation for a mechatronic probe of robot assisted minimally invasive surgery using inverse finite element analysis

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Published: Oct 7, 2018
Keywords:
Inverse finite element analysis Medical tool Soft tissue, Newton-Raphson method

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K. Sangpradit
Department of Agricultural Engineering, Faculty of Engineering, Rajamangala University of Technology Thanyaburi (RMUTT), Thailand

Abstract

There is a need to provide haptic and tactile feedback to surgeons during robot-assisted minimally invasive surgery (RMIS). Such feedback is also essential for palpation based diagnostic during cancer removal using MIS. There have been recent efforts at developing a mechatronic finger to mimic some of the palpation capabilities of a human finger. These mechatronic fingers typically record force-displacement characteristics, in order to infer material properties for diagnostic purposes. This paper presents a non-linear finite element based approach for tissue property identification, based on force-displacement characteristics produced by a mechatronic finger, during mechanical palpations. We use finite element modeling and the Newton- Raphson method to estimate soft tissue parameters. To obtain the ground truth data, a sphere-soft tissue indentation experiment is conducted on a silicone phantom and the sphere-tissue interaction is modeled using finite element software ABAQUSTM. To account for the large deformation behavior of the soft tissue, the Arruda-Boyce hyperelastic model is chosen. Then inverse finite element analysis and the Newton-Raphson method is employed to identify the shear modulus (gif.latex?\mu) of the hyperelastic model, employing the static sphere-tissue indentation data as input. The results show that the proposed method can identify soft tissue parameters accurately and robustly with a relatively fast convergence rate. The force-tissue deflection curves predicted by the identified soft tissue parameter are in good agreement with experimental measurements.

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How to Cite
Sangpradit, K. (2018). Parameter estimation for a mechatronic probe of robot assisted minimally invasive surgery using inverse finite element analysis. Journal of Research and Applications in Mechanical Engineering, 1(4), 9–14. Retrieved from https://ph01.tci-thaijo.org/index.php/jrame/article/view/149442
Issue
Vol. 1 No. 4 (2013)
Section
RESEARCH ARTICLES

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