Viscoelastic Modeling of Human Nasal Tissues with a Mobile Measurement Device

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.

Control Methods for a Teleoperated Endoscope Robot

“…Therefore, three experiment are designed for both part of the nasal tissue; nose tip and nasal concha. Measurements are acquired as surgeons used a mobile measurement device, which is introduced in [4], on a relatively fresh human cadaver head in ex-vivo tests. The first test is designed to measure the force and moments about two axes (Y & Z) that are applied at the tip of the nose and the schematic representation of the test is given in Figure 2.…”

“…In the experiment, a silicone specimen is used to mimic the soft tissue. The stiffness of the silicone is estimated as K E = 1.018 N m/rad by following the estimation procedure defined in [4].…”