Estimation of Boundary Surface Based on Bulk Modulus for Cutting Work. Issue 19 (2016)

• Record Type: Journal Article
• Authors: Itaka, H.; Sakamoto, R.; Yano, K.
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 19(2016)
• Page Start: 385
• Page End: 390
• Publication Date: 2016
• Subjects: Robotics -- Bilateral control -- Machine tool -- Model-Based Design; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.10.596
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Endoscopic surgery has become popular as a less invasive treatment in medical fields because of the increasing focus on the patient's quality of life. It is difficult to determine the positions of organs and blood vessels during endoscopic surgery because visual information is lacking due to the narrow operating area. This surgery requires advanced techniques and is difficult to perform, so it can only be done by doctors with proper training. Methods of preventing invasions into organs or blood vessels and the damage that comes with such invasions, but that do not depend on the practitioner's knowledge of advanced operating techniques, are required.We propose a method for estimating the boundary surfaces between objects using the bulk modulus, which is one of the physical properties of an object, as one way to obtain information that is useful in endoscopic surgery.