Validation of viscoelastic and nonlinear liver model for needle insertion from in vivo experiments

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

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

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages50-59
Number of pages10
Volume5128 LNCS
DOIs
Publication statusPublished - 2008
Event4th International Workshop on Medical Imaging and Augmented Reality, MIAR 2008 - Tokyo
Duration: 2008 Aug 12008 Aug 2

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5128 LNCS
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other4th International Workshop on Medical Imaging and Augmented Reality, MIAR 2008
CityTokyo
Period08/8/108/8/2

Fingerprint

Nonlinear Dynamics
Liver
Needles
Insertion
Experiment
Experiments
Material Properties
Viscoelastic Substances
Materials properties
Model
Newton-Raphson method
Euler's method
Fractional Derivative
Ultrasound
Quadratic Function
Finite Element Model
Stiffness
Swine
Nonlinear Systems
Nonlinear systems

Keywords

  • Liver
  • Needle insertion
  • Physical modeling
  • Robot surgery

ASJC Scopus subject areas

  • Computer Science(all)
  • Biochemistry, Genetics and Molecular Biology(all)
  • Theoretical Computer Science

Cite this

Kobayashi, Y., Onishi, A., Hoshi, T., Kawamura, K., Hashizume, M., & Fujie, M. G. (2008). Validation of viscoelastic and nonlinear liver model for needle insertion from in vivo experiments. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5128 LNCS, pp. 50-59). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5128 LNCS). https://doi.org/10.1007/978-3-540-79982-5_6

Validation of viscoelastic and nonlinear liver model for needle insertion from in vivo experiments. / Kobayashi, Yo; Onishi, Akinori; Hoshi, Takeharu; Kawamura, Kazuya; Hashizume, Makoto; Fujie, Masakatsu G.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5128 LNCS 2008. p. 50-59 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5128 LNCS).

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

Kobayashi, Y, Onishi, A, Hoshi, T, Kawamura, K, Hashizume, M & Fujie, MG 2008, Validation of viscoelastic and nonlinear liver model for needle insertion from in vivo experiments. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 5128 LNCS, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 5128 LNCS, pp. 50-59, 4th International Workshop on Medical Imaging and Augmented Reality, MIAR 2008, Tokyo, 08/8/1. https://doi.org/10.1007/978-3-540-79982-5_6
Kobayashi Y, Onishi A, Hoshi T, Kawamura K, Hashizume M, Fujie MG. Validation of viscoelastic and nonlinear liver model for needle insertion from in vivo experiments. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5128 LNCS. 2008. p. 50-59. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-540-79982-5_6
Kobayashi, Yo ; Onishi, Akinori ; Hoshi, Takeharu ; Kawamura, Kazuya ; Hashizume, Makoto ; Fujie, Masakatsu G. / Validation of viscoelastic and nonlinear liver model for needle insertion from in vivo experiments. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 5128 LNCS 2008. pp. 50-59 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
@inproceedings{d8110e821ffd42f485f417ba54d91162,
title = "Validation of viscoelastic and nonlinear liver model for needle insertion from in vivo experiments",
abstract = "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.",
keywords = "Liver, Needle insertion, Physical modeling, Robot surgery",
author = "Yo Kobayashi and Akinori Onishi and Takeharu Hoshi and Kazuya Kawamura and Makoto Hashizume and Fujie, {Masakatsu G.}",
year = "2008",
doi = "10.1007/978-3-540-79982-5_6",
language = "English",
isbn = "3540799818",
volume = "5128 LNCS",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
pages = "50--59",
booktitle = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

}

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

UR - http://www.scopus.com/inward/record.url?scp=50249104730&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=50249104730&partnerID=8YFLogxK

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)

ER -