Development of a palpation system to help provide accurate robotic needle insertion during the treatment of breast cancer

Makiko Suzuki, Yo Kobayashi, Kazutaka Toyoda, Masakatsu G. Fujie

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

1 Citation (Scopus)

Abstract

There are various medical treatments for breast cancer. One of the most minimally invasive and promising medical treatments for early-stage noninvasive breast cancer is radiofrequency ablation (RFA). RFA can reduce both mental and physical damage to women with breast cancer. However, it is very difficult to accurately insert diagnosis and treatment needles in cases of early-stage breast cancer, because the cancer is a minimal target in soft tissues. Therefore, we have developed a robotic system to make needle insertion more accurate. Our system is comprised of two main components: a breast deformation simulation system for determining a needle approach path and a palpation system that uses force information to search for the cancer. This paper focuses on our palpation system. We performed three experiments to verify the efficiency of our palpation system's control algorithm, based on the hypothesis that force information from multiple-axes is necessary to search for a hard body in soft tissue. Based on the results of the experiments, we conclude that our approach is useful to pinpoint the center of a spherical hard body in soft tissue.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Pages499-504
Number of pages6
DOIs
Publication statusPublished - 2008
Event2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok
Duration: 2009 Feb 212009 Feb 26

Other

Other2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
CityBangkok
Period09/2/2109/2/26

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Keywords

  • Breast cance
  • Needle insertion assist
  • Palpation

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

Cite this

Suzuki, M., Kobayashi, Y., Toyoda, K., & Fujie, M. G. (2008). Development of a palpation system to help provide accurate robotic needle insertion during the treatment of breast cancer. In 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 (pp. 499-504). [4913053] https://doi.org/10.1109/ROBIO.2009.4913053