抄録
In the needle insertion procedure, the physician detects to reach the insertion target using the force acting on the needle tip. So, the friction force should be compensated. The research of estimating the friction force in real time has not performed. In this study, we designed the estimation system of the friction force using the characteristic of the needle insertion force. As the result of needle insertion experiment, we elucidated a characteristic that the slope of the total insertion force and friction force regression line was 1.0 during the needle insertion. The friction force acting on the needle was modeled based on the characteristic that is result of needle insertion experiment. The estimated and measured friction forces were found to be qualitatively consistent.
