Viscoelastic Modeling of Human Nasal Tissues with a Mobile Measurement Device

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Isitman O., Ayit O., Vardarli E., Hanalioglu S., Isikay I., Berker M., ...More

6th International Workshop on Medical and Service Robots (MESROB), Cassino, Italy, 01 January 2018, vol.65, pp.216-224 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 65
  • Doi Number: 10.1007/978-3-030-00329-6_25
  • City: Cassino
  • Country: Italy
  • Page Numbers: pp.216-224
  • Hacettepe University Affiliated: Yes


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.