Abstract
Modeling the dynamic of tool-tissue interaction for the robotic minimally invasive surgeries is one of the main issues for designing appropriate robot controllers. A mobile measurement device is produced in order to model some nasal tissues of a human. This mobile device is a hand-held one which measures the applied moments and relative angular displacements about a fixed pivot point. The ex-vivo measurements are realized by surgeons on a relatively fresh human cadaver head. The tip of the nose and the nasal concha are the two tissues that are investigated. In this study, five different viscoelastic models are considered; Elastic, Kelvin-Voight, Kelvin-Boltzmann, Maxwell and Hunt-Crossley. The results are evaluated and cross-validated on each data set. Hunt-Crossley and Kelvin-Boltzmann models provided the minimum root-mean-square (RMS) error among the other models.
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This work is supported by The Scientific and Technological Research Council of Turkey via grant numbers 115E725 and 115E726.
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Işıtman, O. et al. (2019). Viscoelastic Modeling of Human Nasal Tissues with a Mobile Measurement Device. In: Carbone, G., Ceccarelli, M., Pisla, D. (eds) New Trends in Medical and Service Robotics. Mechanisms and Machine Science, vol 65. Springer, Cham. https://doi.org/10.1007/978-3-030-00329-6_25
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DOI: https://doi.org/10.1007/978-3-030-00329-6_25
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