Modeling of conditions where a puncture occurs during needle insertion considering probability distribution

Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie

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

16 Citations (Scopus)

Abstract

Needle insertion treatments require accurate placement of the needle tip into the target cancer. However, it is difficult to insert the needle into the cancer because of cancer displacement due to the organ deformation. Then, a path planning using numerical simulation to analyze the deformation of the organ and the timing of puncture is important for the accurate needle insertion. In this study, we have explained the modeling of conditions where the puncture occurs. Firstly, this paper shows needle insertion experiments for the hog liver in order to measure the needle force and displacement where the puncture occurs. According to the experimental results, significant variations in puncture force were observed. Accordingly, we proposed a novel condition of the force causing a puncture considering probability distribution. We summarized variations of the puncture force in the experimental data and represented conditions where a puncture occurs with probability distribution models where the force is random variable. In addition, the boundary conditions and liver shapes are considered by analyzing the stress status near the needle. Then, we derived the conditions of the puncture with probability distribution models where the stress is random variable.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1433-1440
Number of pages8
DOIs
Publication statusPublished - 2008
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice
Duration: 2008 Sep 222008 Sep 26

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Kobayashi, Y., Onishi, A., Hoshi, T., Kawamura, K., & Fujie, M. G. (2008). Modeling of conditions where a puncture occurs during needle insertion considering probability distribution. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1433-1440). [4650874] https://doi.org/10.1109/IROS.2008.4650874