Browse > Article
http://dx.doi.org/10.3795/KSME-B.2011.35.11.1199

Continuum Mechanics-Based Environment Modeling for Telemanipulation of Soft Tissues in a Telepalpation System  

Kim, Jung-Sik (Division of Mechanical Engineering, School of Mechanical, Aerospace and Systems Engineering, KAIST)
Kim, Jung (Division of Mechanical Engineering, School of Mechanical, Aerospace and Systems Engineering, KAIST)
Publication Information
Transactions of the Korean Society of Mechanical Engineers B / v.35, no.11, 2011 , pp. 1199-1204 More about this Journal
Abstract
The capability to bilaterally telemanipulate soft-tissues for medical applications could increase the quality of telemanipulation systems. Since most soft-tissue manipulation tasks include constrained motion interacting with an unknown and dynamic bioenvironment through contact, bilateral telemanipulation raises problems due to stability and transparency issues. It is well understood that knowledge of environments plays an important role in pursuing transparent telemanipulation and achieving telepresence, and in particular, online estimation of environmental parameters with an explicit environment model can improve these systems' performance. In this study, a continuum mechanics-based environment model with an online environmental property estimation algorithm and an adaptive telemanipulation control scheme is proposed. The proposed method can improve the telemanipulation performance in terms of stability and transparency and can offer valuable information (e.g., elastic modulus of soft tissues) pertaining to diagnostic examinations.
Keywords
Telemanipulation; Environment Model; Online Estimation; Soft Tissue; Telepalpation;
Citations & Related Records

Times Cited By SCOPUS : 0
연도 인용수 순위
  • Reference
1 American Cancer Society, Cancer Facts and Figures 2008, Atlanta, Ga: American Cancer Society, 2008.
2 Shen, Y., Methil, N.S., Pomeroy, C.A., Xi, N., Mukherjee, R., Zhu, D., Cen, Z., Yang, J., Mutka, M.W., Slomski, C.A. and Apelgren, K.N., 2006, "Supermedia Interface for Internet-based Telediagnostics of Breast Pathology," The Int. J. Robotics Research, Vol. 26, No. 11-12, pp. 1235-1250.
3 Srinivasan, M.A. and LaMotte, R.H., 1995, "Tactual Discrimination of Softness," J. Neurophysiology, Vol. 73, No. 1, pp. 88-101.   DOI
4 Colgate, J.E., 1993, "Robust Impedance Shaping Telemanipulation," IEEE Trans. Robot. Autom., Vol. 9, No. 4, pp. 374-384.   DOI   ScienceOn
5 Gersem, G.D., Brussel, H.V. and Sloten, J.V., 2005, "Enhanced Haptic Sensitivity for Soft Tissues using Teleoperation with Shaped Impedance Reflection," World Haptic Conf., Pisa, Italy.
6 Yamamoto, T., Bernhardt, M., Peer, A., Buss, M. and Okamura, A.M., 2008, "Techniques for Environment Parameter Estimation During Telemanipulation," IEEE/RAS-EMBS Int. Conf. Biomed. Rob. Biomech., Scottsdale, AZ: USA, pp. 217-223.
7 Diolaiti, N., Melchiorri, C. and Stramigioli, S., 2005, "Contact Impedance Estimation for Robotic Systems," IEEE Trans. Robot., Vol. 21, No. 5, pp. 925-935.   DOI   ScienceOn
8 Passenberg, C., Peer, A. and Buss, M., 2010 "A Survey of Environment-, Operator-, and Taskadapted Controllers for Teleoperation Systems," Mechatronics, Vol. 20, pp. 787-801.   DOI   ScienceOn
9 Misra, S., Ramesh, K.T. and Okamura, A.M. 2008, "Modeling of Tool-Tissue Interactions for Computer- Based Surgical Simulation: A Literature Review," Presence, Vol. 17, No. 5, pp. 463-491.   DOI   ScienceOn
10 Manduca, A., Oliphant, T.E., Dresner, M.A., Mahowald, J.L., Kruse, S.A., Amromin, E., Felmlee, J.P., Greenleaf, J.F. and Ehman, R.L., 2001, "Magnetic Resonance Elastography: Non-Invasive Mapping of Tissue Elasticity," Medical Image Analysis, Vol. 5, pp. 237-254.   DOI   ScienceOn