粘弾性・非線形性を考慮した肝臓の材料特性のモデリング

抄録

This research aims to produce an intelligent surgical robot, incorporating the following three techniques, A: visual feedback B: force control C: organ-model base control. This research uses a robot model and a liver for the target object to evaluate organ-model base control. For the purpose of organ-model base control, three experiments were conducted to evaluate the physical properties of the liver for robot control. A dynamic viscoelastic test was then carried out to show the dynamic properties of the liver in the form of a differential equation. The nonlinearity of the liver was supported by the creep test. In addition, the liver model was validated using a constant strain rate test.