The Experts below are selected from a list of 10614 Experts worldwide ranked by ideXlab platform
Masakatsu G. Fujie - One of the best experts on this subject based on the ideXlab platform.
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Preloading based Needle Insertion with a concave probe to enhance targeting in breast tissue
ROBOMECH Journal, 2014Co-Authors: Yo Kobayashi, Makiko Suzuki, Maya Hatano, Makoto Hashizume, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. FujieAbstract:Target displacement cased by tissue deformation is a major technical challenge in ultrasound-guided Needle Insertion for breast tumor treatment or biopsy. We previously developed a preloading-based Needle Insertion method, which consists of a preloading phase and an Insertion phase, and validated its placement accuracy. The present study furthered this research by focusing on a new concave preloading probe to enhance Needle Insertion targeting. With this probe, we evaluated the several probe size for different tumor diameters and locations to investigate the geometry effect on Insertion accuracy. In this in vitro study, preloading-based Needle Insertion with concave probe of the same diameter as that of the tumor showed the highest placement accuracy for shallow tumors, while concave probe of a larger diameter than that of the tumor showed the highest placement accuracy for deep tumors. Overall, the concave preloading probe described in this study decreased Needle placement error. Future research focused on its evaluation by structural analysis based on soft tissue modelling and deformation simulation.
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Viscoelastic and Nonlinear Liver Modeling for Needle Insertion Simulation
Studies in Mechanobiology Tissue Engineering and Biomaterials, 2012Co-Authors: Yo Kobayashi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. FujieAbstract:Needle Insertion treatments for liver tumors require accurate placement of the Needle tip into the target tissue. However, it is difficult to insert the Needle into the tissue because of tissue displacement due to organ deformation. Thus, path planning using numerical simulation to analyze organ deformation is important for accurate Needle Insertion. The objective of our work was to develop and validate a viscoelastic and nonlinear physical liver model. First, we present a material model to represent the viscoelastic and material, nonlinear properties of liver tissue for Needle Insertion simulation. Material properties of liver tissue were measured using a rheometer and modeled from the measured data. The liver viscoelastic characteristics were represented by differential equations, including the fractional derivative term. Next, nonlinearity with respect to the fractional derivative was measured, and the stress–strain relationship using a cubic function was modeled. Second, the experimental method to validate the model is explained. In vitro experiments that made use of porcine liver were conducted for comparison with the simulation using the model. Results of the in vitro experiment showed that the liver model reproduced with high accuracy (1) the relationship between Needle displacement and force during Needle Insertion, (2) the velocity dependence of Needle displacement and force when a puncture occurred and (3) the nonlinear and viscoelastic responses of displacement at an internally located point.
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Enhanced Targeting in Breast Tissue Using a Robotic Tissue Preloading-Based Needle Insertion System
IEEE Transactions on Robotics, 2012Co-Authors: Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Maya Hatano, Kozo Konishi, Makoto Hashizume, Masakatsu G. FujieAbstract:The use of minimally invasive procedures for breast tumor diagnosis and treatment, such as Needle biopsy and radiofrequency ablation (RFA), is steadily increasing. Accurate Needle Insertion requires solving the problems of tissue deformation and target displacement. In this study, we developed a robotic Needle Insertion method to improve the precision of diagnostic biopsy and RFA treatment. The mechanical probe was designed to reduce tissue displacement by pressing the breast tissue before Needle Insertion: a technique that is known as preloading. We focused on the Needle Insertion phase and evaluated the Insertion accuracy achieved. Using a numerical simulation model and an actual hog breast, we compared tissue preloaded Needle Insertion with normal Needle Insertion. The data obtained with both test systems showed that targeting errors were greatly reduced using preloading-based Needle Insertion, as compared with normal Needle Insertion. The procedure is expected to offer a safe and effective alternative to the traditional methods of Needle Insertion for breast tissue biopsy or RFA. Our study also revealed the relationship between Insertion accuracy and preloading probe force.
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ICRA - Geometry effect of preloading probe on accurate Needle Insertion for breast tumor treatment
2012 IEEE International Conference on Robotics and Automation, 2012Co-Authors: Maya Hatano, Yo Kobayashi, Makiko Suzuki, Makoto Hashizume, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. FujieAbstract: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.
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ICRA - In vitro and in vivo validation of robotic palpation-based Needle Insertion method for breast tumor treatment
2011 IEEE International Conference on Robotics and Automation, 2011Co-Authors: Maya Hatano, Yo Kobayashi, Makiko Suzuki, Kozo Konishi, Makoto Hashizume, Ryutaro Hamano, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. FujieAbstract: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.
Yo Kobayashi - One of the best experts on this subject based on the ideXlab platform.
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Preloading based Needle Insertion with a concave probe to enhance targeting in breast tissue
ROBOMECH Journal, 2014Co-Authors: Yo Kobayashi, Makiko Suzuki, Maya Hatano, Makoto Hashizume, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. FujieAbstract:Target displacement cased by tissue deformation is a major technical challenge in ultrasound-guided Needle Insertion for breast tumor treatment or biopsy. We previously developed a preloading-based Needle Insertion method, which consists of a preloading phase and an Insertion phase, and validated its placement accuracy. The present study furthered this research by focusing on a new concave preloading probe to enhance Needle Insertion targeting. With this probe, we evaluated the several probe size for different tumor diameters and locations to investigate the geometry effect on Insertion accuracy. In this in vitro study, preloading-based Needle Insertion with concave probe of the same diameter as that of the tumor showed the highest placement accuracy for shallow tumors, while concave probe of a larger diameter than that of the tumor showed the highest placement accuracy for deep tumors. Overall, the concave preloading probe described in this study decreased Needle placement error. Future research focused on its evaluation by structural analysis based on soft tissue modelling and deformation simulation.
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Viscoelastic and Nonlinear Liver Modeling for Needle Insertion Simulation
Studies in Mechanobiology Tissue Engineering and Biomaterials, 2012Co-Authors: Yo Kobayashi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. FujieAbstract:Needle Insertion treatments for liver tumors require accurate placement of the Needle tip into the target tissue. However, it is difficult to insert the Needle into the tissue because of tissue displacement due to organ deformation. Thus, path planning using numerical simulation to analyze organ deformation is important for accurate Needle Insertion. The objective of our work was to develop and validate a viscoelastic and nonlinear physical liver model. First, we present a material model to represent the viscoelastic and material, nonlinear properties of liver tissue for Needle Insertion simulation. Material properties of liver tissue were measured using a rheometer and modeled from the measured data. The liver viscoelastic characteristics were represented by differential equations, including the fractional derivative term. Next, nonlinearity with respect to the fractional derivative was measured, and the stress–strain relationship using a cubic function was modeled. Second, the experimental method to validate the model is explained. In vitro experiments that made use of porcine liver were conducted for comparison with the simulation using the model. Results of the in vitro experiment showed that the liver model reproduced with high accuracy (1) the relationship between Needle displacement and force during Needle Insertion, (2) the velocity dependence of Needle displacement and force when a puncture occurred and (3) the nonlinear and viscoelastic responses of displacement at an internally located point.
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Enhanced Targeting in Breast Tissue Using a Robotic Tissue Preloading-Based Needle Insertion System
IEEE Transactions on Robotics, 2012Co-Authors: Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Maya Hatano, Kozo Konishi, Makoto Hashizume, Masakatsu G. FujieAbstract:The use of minimally invasive procedures for breast tumor diagnosis and treatment, such as Needle biopsy and radiofrequency ablation (RFA), is steadily increasing. Accurate Needle Insertion requires solving the problems of tissue deformation and target displacement. In this study, we developed a robotic Needle Insertion method to improve the precision of diagnostic biopsy and RFA treatment. The mechanical probe was designed to reduce tissue displacement by pressing the breast tissue before Needle Insertion: a technique that is known as preloading. We focused on the Needle Insertion phase and evaluated the Insertion accuracy achieved. Using a numerical simulation model and an actual hog breast, we compared tissue preloaded Needle Insertion with normal Needle Insertion. The data obtained with both test systems showed that targeting errors were greatly reduced using preloading-based Needle Insertion, as compared with normal Needle Insertion. The procedure is expected to offer a safe and effective alternative to the traditional methods of Needle Insertion for breast tissue biopsy or RFA. Our study also revealed the relationship between Insertion accuracy and preloading probe force.
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ICRA - Geometry effect of preloading probe on accurate Needle Insertion for breast tumor treatment
2012 IEEE International Conference on Robotics and Automation, 2012Co-Authors: Maya Hatano, Yo Kobayashi, Makiko Suzuki, Makoto Hashizume, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. FujieAbstract: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.
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ICRA - In vitro and in vivo validation of robotic palpation-based Needle Insertion method for breast tumor treatment
2011 IEEE International Conference on Robotics and Automation, 2011Co-Authors: Maya Hatano, Yo Kobayashi, Makiko Suzuki, Kozo Konishi, Makoto Hashizume, Ryutaro Hamano, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. FujieAbstract: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.
Makoto Hashizume - One of the best experts on this subject based on the ideXlab platform.
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Preloading based Needle Insertion with a concave probe to enhance targeting in breast tissue
ROBOMECH Journal, 2014Co-Authors: Yo Kobayashi, Makiko Suzuki, Maya Hatano, Makoto Hashizume, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. FujieAbstract:Target displacement cased by tissue deformation is a major technical challenge in ultrasound-guided Needle Insertion for breast tumor treatment or biopsy. We previously developed a preloading-based Needle Insertion method, which consists of a preloading phase and an Insertion phase, and validated its placement accuracy. The present study furthered this research by focusing on a new concave preloading probe to enhance Needle Insertion targeting. With this probe, we evaluated the several probe size for different tumor diameters and locations to investigate the geometry effect on Insertion accuracy. In this in vitro study, preloading-based Needle Insertion with concave probe of the same diameter as that of the tumor showed the highest placement accuracy for shallow tumors, while concave probe of a larger diameter than that of the tumor showed the highest placement accuracy for deep tumors. Overall, the concave preloading probe described in this study decreased Needle placement error. Future research focused on its evaluation by structural analysis based on soft tissue modelling and deformation simulation.
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ICRA - Geometry effect of preloading probe on accurate Needle Insertion for breast tumor treatment
2012 IEEE International Conference on Robotics and Automation, 2012Co-Authors: Maya Hatano, Yo Kobayashi, Makiko Suzuki, Makoto Hashizume, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. FujieAbstract: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.
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Enhanced Targeting in Breast Tissue Using a Robotic Tissue Preloading-Based Needle Insertion System
IEEE Transactions on Robotics, 2012Co-Authors: Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Maya Hatano, Kozo Konishi, Makoto Hashizume, Masakatsu G. FujieAbstract:The use of minimally invasive procedures for breast tumor diagnosis and treatment, such as Needle biopsy and radiofrequency ablation (RFA), is steadily increasing. Accurate Needle Insertion requires solving the problems of tissue deformation and target displacement. In this study, we developed a robotic Needle Insertion method to improve the precision of diagnostic biopsy and RFA treatment. The mechanical probe was designed to reduce tissue displacement by pressing the breast tissue before Needle Insertion: a technique that is known as preloading. We focused on the Needle Insertion phase and evaluated the Insertion accuracy achieved. Using a numerical simulation model and an actual hog breast, we compared tissue preloaded Needle Insertion with normal Needle Insertion. The data obtained with both test systems showed that targeting errors were greatly reduced using preloading-based Needle Insertion, as compared with normal Needle Insertion. The procedure is expected to offer a safe and effective alternative to the traditional methods of Needle Insertion for breast tissue biopsy or RFA. Our study also revealed the relationship between Insertion accuracy and preloading probe force.
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ICRA - In vitro and in vivo validation of robotic palpation-based Needle Insertion method for breast tumor treatment
2011 IEEE International Conference on Robotics and Automation, 2011Co-Authors: Maya Hatano, Yo Kobayashi, Makiko Suzuki, Kozo Konishi, Makoto Hashizume, Ryutaro Hamano, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. FujieAbstract: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.
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Development of an integrated Needle Insertion system with image guidance and deformation simulation.
Computerized medical imaging and graphics : the official journal of the Computerized Medical Imaging Society, 2009Co-Authors: Yo Kobayashi, Makoto Hashizume, Akinori Onishi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. FujieAbstract:Abstract Objective The purpose of our work was to develop an integrated system with image guidance and deformation simulation for the purpose of accurate Needle Insertion. Methods We designed an ultrasound-guided Needle Insertion manipulator and physical model to simulate liver deformation. We carried out an in vivo experiment using a porcine liver to verify the effectiveness of our manipulator and model. Results The results of the in vivo experiment showed that the Needle Insertion manipulator accurately positions the Needle tip into the target. The experimental results also showed that the liver model accurately reproduces the nonlinear increase of force upon the Needle during Insertion. Discussion Based on these results, it is suggested that the Needle Insertion manipulator and the physical liver model developed and validated in this work are effective for accurate Needle Insertion.
Makiko Suzuki - One of the best experts on this subject based on the ideXlab platform.
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Preloading based Needle Insertion with a concave probe to enhance targeting in breast tissue
ROBOMECH Journal, 2014Co-Authors: Yo Kobayashi, Makiko Suzuki, Maya Hatano, Makoto Hashizume, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. FujieAbstract:Target displacement cased by tissue deformation is a major technical challenge in ultrasound-guided Needle Insertion for breast tumor treatment or biopsy. We previously developed a preloading-based Needle Insertion method, which consists of a preloading phase and an Insertion phase, and validated its placement accuracy. The present study furthered this research by focusing on a new concave preloading probe to enhance Needle Insertion targeting. With this probe, we evaluated the several probe size for different tumor diameters and locations to investigate the geometry effect on Insertion accuracy. In this in vitro study, preloading-based Needle Insertion with concave probe of the same diameter as that of the tumor showed the highest placement accuracy for shallow tumors, while concave probe of a larger diameter than that of the tumor showed the highest placement accuracy for deep tumors. Overall, the concave preloading probe described in this study decreased Needle placement error. Future research focused on its evaluation by structural analysis based on soft tissue modelling and deformation simulation.
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Enhanced Targeting in Breast Tissue Using a Robotic Tissue Preloading-Based Needle Insertion System
IEEE Transactions on Robotics, 2012Co-Authors: Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Maya Hatano, Kozo Konishi, Makoto Hashizume, Masakatsu G. FujieAbstract:The use of minimally invasive procedures for breast tumor diagnosis and treatment, such as Needle biopsy and radiofrequency ablation (RFA), is steadily increasing. Accurate Needle Insertion requires solving the problems of tissue deformation and target displacement. In this study, we developed a robotic Needle Insertion method to improve the precision of diagnostic biopsy and RFA treatment. The mechanical probe was designed to reduce tissue displacement by pressing the breast tissue before Needle Insertion: a technique that is known as preloading. We focused on the Needle Insertion phase and evaluated the Insertion accuracy achieved. Using a numerical simulation model and an actual hog breast, we compared tissue preloaded Needle Insertion with normal Needle Insertion. The data obtained with both test systems showed that targeting errors were greatly reduced using preloading-based Needle Insertion, as compared with normal Needle Insertion. The procedure is expected to offer a safe and effective alternative to the traditional methods of Needle Insertion for breast tissue biopsy or RFA. Our study also revealed the relationship between Insertion accuracy and preloading probe force.
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ICRA - Geometry effect of preloading probe on accurate Needle Insertion for breast tumor treatment
2012 IEEE International Conference on Robotics and Automation, 2012Co-Authors: Maya Hatano, Yo Kobayashi, Makiko Suzuki, Makoto Hashizume, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. FujieAbstract: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.
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ICRA - In vitro and in vivo validation of robotic palpation-based Needle Insertion method for breast tumor treatment
2011 IEEE International Conference on Robotics and Automation, 2011Co-Authors: Maya Hatano, Yo Kobayashi, Makiko Suzuki, Kozo Konishi, Makoto Hashizume, Ryutaro Hamano, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. FujieAbstract: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.
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ROBIO - Development of a novel approach, “palpation based Needle Insertion,” for breast cancer treatment
2008 IEEE International Conference on Robotics and Biomimetics, 2009Co-Authors: Yo Kobayashi, Makiko Suzuki, Kozo Konishi, Makoto Hashizume, Masakatsu G. FujieAbstract:One of the most minimally invasive and promising medical treatments for early-stage breast cancer is radio frequency ablation (RFA). However, with RFA it is difficult to insert the Needle into the cancer because of the Needle deforms the organ and, therefore, displaces the cancer. To solve this problem, we have developed a novel approach called “palpation based Needle Insertion.” to achieve precise Needle Insertion for the treatment of breast cancer. This paper focuses on the simulation validation of our novel approach. First, we explain how we use a palpation probe to develop our novel method of robot assisted Needle Insertion. Our assumption was that the palpation probe can detect the cancerous part from force information and, at the same time, reduce the displacement of the part by applying pressure on the breast tissues, which means that the palpation probe can be used to realize precise Needle Insertion. Next, we show how we developed the breast model and validated it by comparing the results of a numerical simulation and an in vitro experiment. Finally, we evaluated both “normal Needle Insertion” and “palpation based Needle Insertion” by carrying out numerical simulations. The simulation data showed that the Needle Insertion error L of “palpation based Needle Insertion” is smaller than that of “normal Needle Insertion”. In short, these simulations confirmed the effectiveness of “palpation based Needle Insertion.”
Kozo Konishi - One of the best experts on this subject based on the ideXlab platform.
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Enhanced Targeting in Breast Tissue Using a Robotic Tissue Preloading-Based Needle Insertion System
IEEE Transactions on Robotics, 2012Co-Authors: Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Maya Hatano, Kozo Konishi, Makoto Hashizume, Masakatsu G. FujieAbstract:The use of minimally invasive procedures for breast tumor diagnosis and treatment, such as Needle biopsy and radiofrequency ablation (RFA), is steadily increasing. Accurate Needle Insertion requires solving the problems of tissue deformation and target displacement. In this study, we developed a robotic Needle Insertion method to improve the precision of diagnostic biopsy and RFA treatment. The mechanical probe was designed to reduce tissue displacement by pressing the breast tissue before Needle Insertion: a technique that is known as preloading. We focused on the Needle Insertion phase and evaluated the Insertion accuracy achieved. Using a numerical simulation model and an actual hog breast, we compared tissue preloaded Needle Insertion with normal Needle Insertion. The data obtained with both test systems showed that targeting errors were greatly reduced using preloading-based Needle Insertion, as compared with normal Needle Insertion. The procedure is expected to offer a safe and effective alternative to the traditional methods of Needle Insertion for breast tissue biopsy or RFA. Our study also revealed the relationship between Insertion accuracy and preloading probe force.
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ICRA - In vitro and in vivo validation of robotic palpation-based Needle Insertion method for breast tumor treatment
2011 IEEE International Conference on Robotics and Automation, 2011Co-Authors: Maya Hatano, Yo Kobayashi, Makiko Suzuki, Kozo Konishi, Makoto Hashizume, Ryutaro Hamano, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. FujieAbstract: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.
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ROBIO - Development of a novel approach, “palpation based Needle Insertion,” for breast cancer treatment
2008 IEEE International Conference on Robotics and Biomimetics, 2009Co-Authors: Yo Kobayashi, Makiko Suzuki, Kozo Konishi, Makoto Hashizume, Masakatsu G. FujieAbstract:One of the most minimally invasive and promising medical treatments for early-stage breast cancer is radio frequency ablation (RFA). However, with RFA it is difficult to insert the Needle into the cancer because of the Needle deforms the organ and, therefore, displaces the cancer. To solve this problem, we have developed a novel approach called “palpation based Needle Insertion.” to achieve precise Needle Insertion for the treatment of breast cancer. This paper focuses on the simulation validation of our novel approach. First, we explain how we use a palpation probe to develop our novel method of robot assisted Needle Insertion. Our assumption was that the palpation probe can detect the cancerous part from force information and, at the same time, reduce the displacement of the part by applying pressure on the breast tissues, which means that the palpation probe can be used to realize precise Needle Insertion. Next, we show how we developed the breast model and validated it by comparing the results of a numerical simulation and an in vitro experiment. Finally, we evaluated both “normal Needle Insertion” and “palpation based Needle Insertion” by carrying out numerical simulations. The simulation data showed that the Needle Insertion error L of “palpation based Needle Insertion” is smaller than that of “normal Needle Insertion”. In short, these simulations confirmed the effectiveness of “palpation based Needle Insertion.”
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IROS - A robotic palpation-based Needle Insertion method for diagnostic biopsy and treatment of breast cancer
2009 IEEE RSJ International Conference on Intelligent Robots and Systems, 2009Co-Authors: Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Kozo Konishi, Makoto Hashizume, Masakatsu G. FujieAbstract:We describe here a palpation-based Needle Insertion method for diagnostic biopsy and treatment of breast cancer. The mechanical palpation probe locates cancerous tissue from force information and reduces tissue displacement during Needle Insertion. We compared palpation-based Needle Insertion to normal Needle Insertion by numerical simulation of a breast tissue model and by experiments in vitro. The data showed palpation-based Needle Insertion had a smaller error in both tests. Our findings suggest the procedure is a safe, effective alternative to traditional methods of breast tissue biopsy.
