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 | |
| 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
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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