A quantitative stiffness assessment method in liver biopsy teleoperations

Daiki Suzuki, Koyo Yu, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper reviews the study progress of existing liver fibrosis assessment methods. After reviewing, this paper proposes a method to assess stiffness which intends the fibrosis, in the liver biopsy teleoperations. In this method, the liver biopsy operation is modeled. Also, teleoperated liver biopsy operations are conducted by a doctor. During the teleoperation, the force data is recorded by constructing reaction force observer (RFOB) without utilizing force sensors. The recorded force data is then treated in the force modeling equation of needle insertion movements. Finally, the quantitative stiffness assessment method is presented. The proposed method is applied to the evaluation of stiffness of three different environments which all imitate the liver. The experimentally assessed stiffness values are compared with the stiffness measured by the durometer. The comparisons validate that the proposal is effective to quantitatively assess the stiffness of needle inserting environments.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages3281-3286
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: 2013 Nov 102013 Nov 14

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
CountryAustria
CityVienna
Period13/11/1013/11/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'A quantitative stiffness assessment method in liver biopsy teleoperations'. Together they form a unique fingerprint.

  • Cite this

    Suzuki, D., Yu, K., & Ohnishi, K. (2013). A quantitative stiffness assessment method in liver biopsy teleoperations. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 3281-3286). [6699654] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6699654