In vitro and in vivo Validation of Robotic Palpation-based Needle Insertion Method for Breast Tumor treatment

摘要：

We describe a palpation-based needle insertion method for diagnostic biopsy and radiofrequency ablation treatment of a breast tumor. The mechanical palpation probe locates cancerous tissue from ultrasound imaging information and reduces tissue displacement during needle insertion by pressing the breast tissue. We examined the insertion accuracy of this method and compared palpation-based needle insertion with normal needle insertion both in vitro and in vivo. Palpation-based needle insertion had a smaller error, suggesting that this procedure is a safe, effective alternative to traditional methods of breast needle insertion.

作者: Maya Hatano Yo Kobayashi Ryutaro Hamano Makiko Suzuki Yasuyuki Shiraishi Tomoyuki Yambe Kozo Konishi Makoto Hashizume Masakatsu G. Fujie

作者单位: School of Science and Engineering,Waseda University,Japan Faculty of Science and Engineering,Waseda University,Japan Department of Medical Engineering and Cardiology,Institute of Development,Aging and Cancer,Tohoku Un Integration of Advanced Medicine and Innovative Technology,Kyushu University Hospital,Japan

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 392-397

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）