Geometry effect of preloading probe on accurate needle insertion for breast tumor treatment

Maya Hatano, Yo Kobayashi, Makiko Suzuki, Yasuyuki Shiraishi, Tomoyuki Yambe, Makoto Hashizume, Masakatsu G. Fujie

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

5 Citations (Scopus)

Abstract

We herein describe a needle insertion method involving tissue preloading for accurate breast tumor treatment. A mechanical preloading probe locates a tumor lesion from ultrasound imaging information and reduces lesion displacement during needle insertion by pressing the breast tissue. We validated the insertion accuracy of this method by numerical simulation and experiments both in vitro and in vivo. For further accuracy enhancement, we evaluated the geometry effect of the preloading probe on needle insertion accuracy by experiments in vitro. We compared the insertion accuracy between insertion with preloading using different probe diameters and normal needle insertion. In addition, we compared insertion accuracy at different tumor depths. The data indicated a tendency for adaptation of larger preloading probe diameters with deeper tumors. This suggests the potential for our method to enhance placement accuracy by real-time geometry regulation.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1933-1938
Number of pages6
DOIs
Publication statusPublished - 2012

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ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Hatano, M., Kobayashi, Y., Suzuki, M., Shiraishi, Y., Yambe, T., Hashizume, M., & Fujie, M. G. (2012). Geometry effect of preloading probe on accurate needle insertion for breast tumor treatment. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1933-1938). [6224604] https://doi.org/10.1109/ICRA.2012.6224604