An analysis on force data during biopsy insertion

Daiki Suzuki; Yoshitomo Matsumi; Kouhei Ohnishi

doi:10.1109/AMC.2014.6823319

An analysis on force data during biopsy insertion

Daiki Suzuki, Yoshitomo Matsumi, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

In this paper, an analysis on force data during needle insertion for biopsy is conducted. The analysis proposes a novel way of assessing the organ stiffness. During the biopsy operation, 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. This paper utilizes the force modeling into three phases, which are contact, puncture, and pierce phases. The analysis to model the force data for each tissue inside the content is conducted. The analysis is discussed to evaluate the stiffness of three different environments which all imitate the liver.

Original language	English
Title of host publication	2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	422-427
Number of pages	6
ISBN (Print)	9781479923243
DOIs	https://doi.org/10.1109/AMC.2014.6823319
Publication status	Published - 2014 Jan 1
Event	2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan Duration: 2014 Mar 14 → 2014 Mar 16

Publication series

Name	International Workshop on Advanced Motion Control, AMC

Other

Other	2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Country/Territory	Japan
City	Yokohama
Period	14/3/14 → 14/3/16

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/AMC.2014.6823319

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An analysis on force data during biopsy insertion. / Suzuki, Daiki; Matsumi, Yoshitomo; Ohnishi, Kouhei.

2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 422-427 6823319 (International Workshop on Advanced Motion Control, AMC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Suzuki, D, Matsumi, Y & Ohnishi, K 2014, An analysis on force data during biopsy insertion. in 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014., 6823319, International Workshop on Advanced Motion Control, AMC, Institute of Electrical and Electronics Engineers Inc., pp. 422-427, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823319

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AB - In this paper, an analysis on force data during needle insertion for biopsy is conducted. The analysis proposes a novel way of assessing the organ stiffness. During the biopsy operation, 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. This paper utilizes the force modeling into three phases, which are contact, puncture, and pierce phases. The analysis to model the force data for each tissue inside the content is conducted. The analysis is discussed to evaluate the stiffness of three different environments which all imitate the liver.

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An analysis on force data during biopsy insertion

Abstract

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