A robotic palpation-based needle insertion method for diagnostic biopsy and treatment of breast cancer

Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Kozo Konishi, Makoto Hashizume, Masakatsu G. Fujie

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

8 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages5534-5539
Number of pages6
DOIs
Publication statusPublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

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All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Kobayashi, Y., Suzuki, M., Kato, A., Konishi, K., Hashizume, M., & Fujie, M. G. (2009). A robotic palpation-based needle insertion method for diagnostic biopsy and treatment of breast cancer. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 5534-5539). [5354485] https://doi.org/10.1109/IROS.2009.5354485