Extended Kalman filter for online soft tissue characterization based on Hunt-Crossley contact model. (November 2021)

• Record Type: Journal Article
• Authors: Zhu, Xinhe; Gao, Bingbing; Zhong, Yongmin; Gu, Chengfan; Choi, Kup-Sze
• Is Part Of: Journal of the mechanical behavior of biomedical materials. Volume 123(2021)
• Publication Date: 2021-11
• Subjects: Soft tissue characteristics -- Contact model -- Parameter estimation -- Extended Kalman filter -- Real-time performance; Biomedical materials -- Periodicals; Biomedical materials -- Mechanical properties -- Periodicals; Biomedical materials; Biomedical materials -- Mechanical properties; Periodicals; Electronic journals; 610.28
• DOI: 10.1016/j.jmbbm.2021.104667
• Languages: English
• ISSNs: 1751-6161

Abstract

Abstract: Real-time soft tissue characterization is significant to robotic assisted minimally invasive surgery for achieving precise haptic control of robotic surgical tasks and providing realistic force feedback to the operator. This paper presents a nonlinear methodology for online soft tissue characterization. An extended Kalman filter (EKF) is developed based on dynamic linearization of the nonlinear H–C contact model in terms of system state for online characterization of soft tissue parameters. To handle the resultant linearization modelling error, an innovation orthogonal EKF is further developed by incorporating an adaptive factor in the EKF filtering to adaptively adjust the innovation covariance according to the principle of innovation orthogonality. Simulation and experimental results as well as comparison analysis demonstrate that the proposed methodology can effectively characterize soft tissue parameters, leading to dramatically improved accuracy comparing to recursive least square estimation. Further, the proposed methodology also requires a smaller computational load and can achieve the real-time performance for soft tissue characterization.