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

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

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

12 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

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10.1109/IROS.2009.5354485

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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

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AU - Fujie, Masakatsu G.

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

Abstract

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