TY - JOUR
T1 - Enhanced targeting in breast tissue using a robotic tissue preloading-based needle insertion system
AU - Kobayashi, Yo
AU - Suzuki, Makiko
AU - Kato, Atsushi
AU - Hatano, Maya
AU - Konishi, Kozo
AU - Hashizume, Makoto
AU - Fujie, Masakatsu G.
N1 - Funding Information:
Manuscript received October 21, 2010; revised April 26, 2011 and October 13, 2011; accepted December 25, 2011. Date of publication February 3, 2012; date of current version June 1, 2012. This paper was recommended for publication by Associate Editor A. Albu-Schäffer and Editor W. K. Chung upon evaluation of the reviewers’ comments. This work was supported in part by the “Establishment of a Consolidated Research Institute for Advanced Science and Medical Care,” Encouraging the Development of Strategic Research Centers Program, Special Coordination Funds for Promoting Science and Technology, Ministry of Education, Culture, Sports, Science, and Technology, Japan, in part by the Global Centers of Excellence Program “Global Robot Academia,” Waseda University, Tokyo, Japan, in part by the High-Tech Research Center Project from Ministry of Education, Culture, Sports, Science and Technology, and in part by a Grant-in-Aid for Scientific Research (A) (08239402) and a Grant-in-Aid for Young Scientists (B) (21700513). This paper was presented in part at the 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, Thailand, February 22–25, 2009, and in part at the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, October 11–15, 2009.
PY - 2012
Y1 - 2012
N2 - The use of minimally invasive procedures for breast tumor diagnosis and treatment, such as needle biopsy and radiofrequency ablation (RFA), is steadily increasing. Accurate needle insertion requires solving the problems of tissue deformation and target displacement. In this study, we developed a robotic needle insertion method to improve the precision of diagnostic biopsy and RFA treatment. The mechanical probe was designed to reduce tissue displacement by pressing the breast tissue before needle insertion: a technique that is known as preloading. We focused on the needle insertion phase and evaluated the insertion accuracy achieved. Using a numerical simulation model and an actual hog breast, we compared tissue preloaded needle insertion with normal needle insertion. The data obtained with both test systems showed that targeting errors were greatly reduced using preloading-based needle insertion, as compared with normal needle insertion. The procedure is expected to offer a safe and effective alternative to the traditional methods of needle insertion for breast tissue biopsy or RFA. Our study also revealed the relationship between insertion accuracy and preloading probe force.
AB - The use of minimally invasive procedures for breast tumor diagnosis and treatment, such as needle biopsy and radiofrequency ablation (RFA), is steadily increasing. Accurate needle insertion requires solving the problems of tissue deformation and target displacement. In this study, we developed a robotic needle insertion method to improve the precision of diagnostic biopsy and RFA treatment. The mechanical probe was designed to reduce tissue displacement by pressing the breast tissue before needle insertion: a technique that is known as preloading. We focused on the needle insertion phase and evaluated the insertion accuracy achieved. Using a numerical simulation model and an actual hog breast, we compared tissue preloaded needle insertion with normal needle insertion. The data obtained with both test systems showed that targeting errors were greatly reduced using preloading-based needle insertion, as compared with normal needle insertion. The procedure is expected to offer a safe and effective alternative to the traditional methods of needle insertion for breast tissue biopsy or RFA. Our study also revealed the relationship between insertion accuracy and preloading probe force.
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U2 - 10.1109/TRO.2012.2183055
DO - 10.1109/TRO.2012.2183055
M3 - Article
AN - SCOPUS:84862823230
SN - 1552-3098
VL - 28
SP - 710
EP - 722
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 3
M1 - 6144750
ER -