TY - GEN
T1 - Validation of viscoelastic and nonlinear liver model for needle insertion from in vivo experiments
AU - Kobayashi, Yo
AU - Onishi, Akinori
AU - Hoshi, Takeharu
AU - Kawamura, Kazuya
AU - Hashizume, Makoto
AU - Fujie, Masakatsu G.
PY - 2008
Y1 - 2008
N2 - This paper shows the viscoelastic and nonlinear liver model for organ model based needle insertion, in which the deformation of an organ is estimated and predicted, and the needle trajectory is decided with organ deformation taken into consideration. An organ model including detailed material characteristics is important in order to achieve the proposed method. Firstly, the material properties of the liver are modeled from the measured data and its viscoelastic characteristics are represented by differential equations, including the term of the fractional derivative. Nonlinearity in terms of the stiffness was measured, and modeled using the quadratic function of strain. Next, a solution of an FE(Finite element) model using such material properties is shown. We use the sampling time scaling property as the solution for the viscoelastic system, while the solution for a nonlinear system using the Euler method and the Modified Newton-Raphson method is also shown. Finally, the deformation of liver model is calculated and pig liver of in vivo situation is obtained from medical ultrasound equipment. Comparing the relationship between needle displacement and force on real liver and liver model, we validate the proposed model.
AB - This paper shows the viscoelastic and nonlinear liver model for organ model based needle insertion, in which the deformation of an organ is estimated and predicted, and the needle trajectory is decided with organ deformation taken into consideration. An organ model including detailed material characteristics is important in order to achieve the proposed method. Firstly, the material properties of the liver are modeled from the measured data and its viscoelastic characteristics are represented by differential equations, including the term of the fractional derivative. Nonlinearity in terms of the stiffness was measured, and modeled using the quadratic function of strain. Next, a solution of an FE(Finite element) model using such material properties is shown. We use the sampling time scaling property as the solution for the viscoelastic system, while the solution for a nonlinear system using the Euler method and the Modified Newton-Raphson method is also shown. Finally, the deformation of liver model is calculated and pig liver of in vivo situation is obtained from medical ultrasound equipment. Comparing the relationship between needle displacement and force on real liver and liver model, we validate the proposed model.
KW - Liver
KW - Needle insertion
KW - Physical modeling
KW - Robot surgery
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U2 - 10.1007/978-3-540-79982-5_6
DO - 10.1007/978-3-540-79982-5_6
M3 - Conference contribution
AN - SCOPUS:50249104730
SN - 3540799818
SN - 9783540799818
VL - 5128 LNCS
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 50
EP - 59
BT - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
T2 - 4th International Workshop on Medical Imaging and Augmented Reality, MIAR 2008
Y2 - 1 August 2008 through 2 August 2008
ER -