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 publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1933-1938
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 2012 Jan 1
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 2012 May 142012 May 18

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period12/5/1412/5/18

ASJC Scopus subject areas

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

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  • 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 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 1933-1938). [6224604] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224604