A Robotic Palpation-Based Needle Insertion Method for Diagnostic Biopsy and Treatment of Breast Cancer

被引：13

作者：

Kobayashi, Yo ^{[1
]}

Suzuki, Makiko ^{[2
]}

Kato, Atsushi ^{[2
,4
]}

Konishi, Kozo

Hashizume, Makoto ^{[4
]}

Fujie, Masakatsu G. ^{[2
,3
]}

机构：

[1] Waseda Univ, Fac Sci & Engn, Shinjuku Ku, 59-309,3-4-1 Ohkubo, Tokyo, Japan

[2] Waseda Univ, Grad Sch Sci & Engn, Tokyo, Japan

[3] Waseda Univ, Fac Sci & Engn, Tokyo, Japan

[4] Kyushu Univ Hosp, Ctr Integrat Adv Med & Innovat Technol, Fukuoka, Japan

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

关键词：

INTERVENTIONAL ROBOTICS; OPTIMIZATION;

D O I：

10.1109/IROS.2009.5354485

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We describe here a palpation-based needle insertion method for diagnostic biopsy and treatment of breast cancer. The mechanical palpation probe locates cancerous tissue from force information and reduces tissue displacement during needle insertion. We compared palpation-based needle insertion to normal needle insertion by numerical simulation of a breast tissue model and by experiments in vitro. The data showed palpation-based needle insertion had a smaller error in both tests. Our findings suggest the procedure is a safe, effective alternative to traditional methods of breast tissue biopsy.

引用

页码：5534 / +

页数：2

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