A quantitative stiffness assessment method in liver biopsy teleoperations

Daiki Suzuki, Koyo Yu, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
ページ3281-3286
ページ数6
DOI
出版ステータスPublished - 2013 12月 1
イベント39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
継続期間: 2013 11月 102013 11月 14

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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