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

doi:10.1109/IROS.2009.5354485

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

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 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 language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	5534-5539
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2009.5354485
Publication status	Published - 2009 Dec 11
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO Duration: 2009 Oct 11 → 2009 Oct 15

Other

Other	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
City	St. Louis, MO
Period	09/10/11 → 09/10/15

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2009.5354485

Cite this

A robotic palpation-based needle insertion method for diagnostic biopsy and treatment of breast cancer. / Kobayashi, Yo; Suzuki, Makiko; Kato, Atsushi; Konishi, Kozo; Hashizume, Makoto; Fujie, Masakatsu G.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 5534-5539 5354485.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kobayashi, Y, Suzuki, M, Kato, A, Konishi, K, Hashizume, M & Fujie, MG 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., 5354485, pp. 5534-5539, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, 09/10/11. https://doi.org/10.1109/IROS.2009.5354485

@inproceedings{ac1a0b46b38049758a38631c6592d3b2,

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

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.",

author = "Yo Kobayashi and Makiko Suzuki and Atsushi Kato and Kozo Konishi and Makoto Hashizume and Fujie, {Masakatsu G.}",

year = "2009",

month = dec,

day = "11",

doi = "10.1109/IROS.2009.5354485",

language = "English",

isbn = "9781424438044",

pages = "5534--5539",

booktitle = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",

note = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 ; Conference date: 11-10-2009 Through 15-10-2009",

}

TY - GEN

T1 - A robotic palpation-based needle insertion method for diagnostic biopsy and treatment of breast cancer

AU - Kobayashi, Yo

AU - Suzuki, Makiko

AU - Kato, Atsushi

AU - Konishi, Kozo

AU - Hashizume, Makoto

AU - Fujie, Masakatsu G.

PY - 2009/12/11

Y1 - 2009/12/11

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=76249104954&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=76249104954&partnerID=8YFLogxK

U2 - 10.1109/IROS.2009.5354485

DO - 10.1109/IROS.2009.5354485

M3 - Conference contribution

AN - SCOPUS:76249104954

SN - 9781424438044

SP - 5534

EP - 5539

BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Y2 - 11 October 2009 through 15 October 2009

ER -

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

Abstract

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this