A. Material model for soft biological tissue [Reference] Liver: J016. “Modeling of Viscoelastic and Nonlinear Material Properties of Liver Tissue using Fractional Calculations”,Journal of Biomechanical Science and Engineering (JBSE), Vol. 7(2), pp.177-187, 2012, https://www.jstage.jst.go.jp/article/jbse/7/2/7_2_177/_pdf Breast: J013. “Enhanced Targeting in Breast Tissue using a Robotic Tissue Preloading-Based Needle Insertion System”, IEEE Transaction on Robotics, Vol.28(3), pp. 710-722, 2012, http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6144750 J034. Mariko Tsukune, Yo Kobayashi, Tomoyuki Miyashita, G. Masakatsu Fujie, "Automated palpation for breast tissue discrimination based on viscoelastic biomechanical properties", International Journal of Computer Assisted Radiology and Surgery, 10(5), pp 593-601, 2015: http://link.springer.com/article/10.1007/s11548-014-1100-2 Muscle: J017. “Soft Interaction between Body Weight Support System and Human using Fractional Impedance Control”, Advanced Robotics, Volume 26, Issue 11-12, pp.1253-1269, 2012, http://www.tandfonline.com/doi/abs/10.1080/01691864.2012.689724#.UplzrcSGrT8 Friction: J018. “Frictional Force Modeling Ranging from Hyper to Slow Relative Velocity between a Needle and Liver Tissue”, Journal of Biomechanical Science and Engineering (JBSE), Vol.7(3), pp.305-317, 2012, https://www.jstage.jst.go.jp/article/jbse/7/3/7_305/_pdf B. Deformation simulation of Liver and needle insertion force analysis [Reference] J003. " Development and validation of a viscoelastic and nonlinear liver model for needle insertion", International Journal of Computer Assisted Radiology and Surgery (IJCARS), Vol. 4, No. 1, pp.53-63, 2009, http://link.springer.com/article/10.1007%2Fs11548-008-0259-9 J004. “Development of an Integrated Needle Insertion System with Image Guidance and Deformation Simulation”, International Journal of Computerized Medical Imaging and Graphics (CMIG), Vol.34, No.1, pp. 9-18, 2010, http://www.sciencedirect.com/science/article/pii/S0895611109001098 J020. Yo Kobayashi, Ryutaro Hamano, Jaesung Hong, Hiroki Watanabe, Kazutaka Toyoda, Makoto Hashizume, Masakatsu G. Fujie, “Use of Puncture Force Measurement to Investigate the Conditions of Blood Vessel Needle Insertion”, Medical Engineering & Physics, 35(5):684-9, 2013, http://www.sciencedirect.com/science/article/pii/S1350453312003311 | C. Planing based on tissue model J019. “Developing a Method to Plan Robotic Straight Needle Insertion using a Probability-based Assessment of Puncture Occurrence”, Advanced Robotics, Vol. 27(6),417-430, 2013, http://www.tandfonline.com/doi/abs/10.1080/01691864.2013.756385#.Upl0lsSGrT8 D. Control based on tissue model J017. “Soft Interaction between Body Weight Support System and Human using Fractional Impedance Control”, Advanced Robotics, Volume 26, Issue 11-12, pp.1253-1269, 2012, http://www.tandfonline.com/doi/abs/10.1080/01691864.2012.689724#.UplzrcSGrT8 E. ETC D. Control based on tissue model |