In vitro and in vivo validation of robotic palpation-based needle insertion method for breast tumor treatment

We describe a palpation-based needle insertion method for diagnostic biopsy and radiofrequency ablation treatment of a breast tumor. The mechanical palpation probe locates cancerous tissue from ultrasound imaging information and reduces tissue displacement during needle insertion by pressing the bre...

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Bibliographic Details
Main Authors: Hatano, Maya, Kobayashi, Yo, Hamano, Ryutaro, Suzuki, Makiko, Shiraishi, Yasuyuki, Yambe, Tomoyuki, Konishi, Kozo, Hashizume, Makoto, Fujie, Masakatsu G.
Format: Conference Proceeding
Language:English
Subjects:
Breast
Force
Lesions
Manipulators
Needles
Probes
Online Access:Request full text
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Description
Summary:We describe a palpation-based needle insertion method for diagnostic biopsy and radiofrequency ablation treatment of a breast tumor. The mechanical palpation probe locates cancerous tissue from ultrasound imaging information and reduces tissue displacement during needle insertion by pressing the breast tissue. We examined the insertion accuracy of this method and compared palpation-based needle insertion with normal needle insertion both in vitro and in vivo. Palpation-based needle insertion had a smaller error, suggesting that this procedure is a safe, effective alternative to traditional methods of breast needle insertion.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2011.5979896