Cart (Loading....) | Create Account
Close category search window
 

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

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Suzuki, M. ; Grad. Sch. of Sci. & Eng., Waseda Univ., Tokyo ; Kobayashi, Y. ; Toyoda, K. ; Fujie, M.G.

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.

Published in:

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Date of Conference:

22-25 Feb. 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.