Table 1.

Tissue viscoelastic and acoustic properties, taken from the literature.

Tissue	Shear modulus (kPa)	Density (kg m−3)	Sound speed (m s−1)	UTS (MPa)	Ultimate true strain
Liver	1.8 ± 0.4	1060	1577 ± 11	0.27	0.38
HCC	23.4	1060	1555 ± 15	—	—
Diseased liver	19.8	1060	1559 ± 4	—	—
Hepatic artery	210 ± 47	1050	1616 ± 25	1.4	0.63
Gallbladder	85 ± 8.2	1060	1584	2.5	0.43 ± 0.3
Bile duct	166 ± 67	1060	1600	—	—
Stomach	0.637	1058	1619.4 ± 21	0.43	0.66

Tissue viscosity is assumed to be 0.01 Pa s, and all viscoelastic properties were measured under quasistatic conditions for all tissues. Additional assumptions discussed in section 2.2. References: general (Duck 2013); liver, HCC, and diseased liver (Bamber and Hill 1981, Palmeri et al 2008, Webb et al 2011, Honjo et al 2014); hepatic artery (Deng et al 1994, Holzapfel et al 2005); gallbladder (Karimi et al 2017); bile duct (Duch et al 2004); stomach (Saijo et al 1991, Lim et al 2009).