ICRA 2011 Paper Abstract


Paper TuA113.2

HATANO, Maya (Waseda University), Kobayashi, Yo (Waseda University), Hamano, Ryutaro (Waseda University), SUZUKI, Makiko (Waseda University), Shiraishi, Yasuyuki (Tohoku University), Yambe, Tomoyuki (Tohoku University), Konishi, Kozo (Kyushu University), Hashizume, Makoto (Kyushu University), Fujie, Masakatsu G. (Waseda University)

In Vitro and in Vivo Validation of Robotic Palpation-Based Needle Insertion Method for Breast Tumor Treatment

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems I" (TuA113), Tuesday, May 10, 2011, 08:35−08:50, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Medical Robots and Systems


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 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.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2020 PaperCept, Inc.
Page generated 2020-03-30  01:12:22 PST  Terms of use