抄録
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.
本文言語 | English |
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ホスト出版物のタイトル | 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 |
ページ | 499-504 |
ページ数 | 6 |
DOI | |
出版ステータス | Published - 2008 |
イベント | 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok 継続期間: 2009 2月 21 → 2009 2月 26 |
Other
Other | 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 |
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City | Bangkok |
Period | 09/2/21 → 09/2/26 |
ASJC Scopus subject areas
- バイオテクノロジー
- 人工知能
- コンピュータ ビジョンおよびパターン認識
- 電子工学および電気工学