Paper Info
Title
Development of a palpation system to help provide accurate robotic needle insertion during the treatment of breast cancer
Abstract
There are various medical treatments for breast cancer. One of the most minimally invasive and promising medical treatments for early-stage noninvasive breast cancer is radiofrequency ablation (RFA). RFA can reduce both mental and physical damage to women with breast cancer. However, it is very difficult to accurately insert diagnosis and treatment needles in cases of early-stage breast cancer, because the cancer is a minimal target in soft tissues. Therefore, we have developed a robotic system to make needle insertion more accurate. Our system is comprised of two main components: a breast deformation simulation system for determining a needle approach path and a palpation system that uses force information to search for the cancer. This paper focuses on our palpation system. We performed three experiments to verify the efficiency of our palpation system's control algorithm, based on the hypothesis that force information from multiple-axes is necessary to search for a hard body in soft tissue. Based on the results of the experiments, we conclude that our approach is useful to pinpoint the center of a spherical hard body in soft tissue.
Year
DOI
Venue
2008
10.1109/ROBIO.2009.4913053
ROBIO
Keywords
Field
DocType
accurate robotic needle insertion,breast cancer,early-stage noninvasive breast cancer,soft tissue,breast deformation simulation system,hard body,early-stage breast cancer,palpation system,robotic system,needle approach path,force information,cancer,soft tissues,force
Biomedical engineering,Control algorithm,Robotic systems,Breast cancer,Simulation system,Radiofrequency ablation,Control engineering,Palpation,Engineering,Radiology,Soft tissue,Cancer
Conference
Citations 
PageRank 
References 
2
0.39
10
Authors
4
Name
Order
Citations
PageRank
Makiko Suzuki1222.84
Yo Kobayashi218548.42
Kazutaka Toyoda3143.04
Masakatsu G. Fujie429785.17