Geometry effect of preloading probe on accurate needle insertion for breast tumor treatment

Hatano, Maya; Kobayashi, Yo; Suzuki, Makiko; Shiraishi, Yasuyuki; Yambe, Tomoyuki; Hashizume, Makoto; Fujie, Masakatsu G.

doi:10.1109/icra.2012.6224604

Cited by 7 publications

(5 citation statements)

References 27 publications

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“…One approach is to constrain tissue externally by compression [10] or suction [11] at the needle access point for improved targeting accuracy. Another is to actively position a target on the needle path by externally manipulating the tissue with multiple robotic fingers [12].…”

Section: Introductionmentioning

confidence: 99%

“…Consequently, several researchers have chosen to focus on methods that aim to minimize tissue mobility and deformation during needle insertion. One approach is to constrain tissue externally by compression [10] or suction [11] at the needle access point for improved targeting accuracy. Another is to actively position a target on the needle path by externally manipulating the tissue with multiple robotic fingers [12].…”

Section: Introductionmentioning

confidence: 99%

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Minimally disruptive needle insertion: a biologically inspired solution

Leibinger¹,

Oldfield²,

Baena³

2016

Interface Focus.

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The mobility of soft tissue can cause inaccurate needle insertions. Particularly in steering applications that employ thin and flexible needles, large deviations can occur between pre-operative images of the patient, from which a procedure is planned, and the intra-operative scene, where a procedure is executed. Although many approaches for reducing tissue motion focus on external constraining or manipulation, little attention has been paid to the way the needle is inserted and actuated within soft tissue. Using our biologically inspired steerable needle, we present a method of reducing the disruptiveness of insertions by mimicking the burrowing mechanism of ovipositing wasps. Internal displacements and strains in three dimensions within a soft tissue phantom are measured at the needle interface, using a scanning laser-based image correlation technique. Compared to a conventional insertion method with an equally sized needle, overall displacements and strains in the needle vicinity are reduced by 30% and 41%, respectively. The results show that, for a given net speed, needle insertion can be made significantly less disruptive with respect to its surroundings by employing our biologically inspired solution. This will have significant impact on both the safety and targeting accuracy of percutaneous interventions along both straight and curved trajectories.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Minimally disruptive needle insertion: a biologically inspired solution

Leibinger¹,

Oldfield²,

Baena³

2016

Interface Focus.

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“…Several techniques for improving needle targeting accuracy have previously been presented. Robotic needle systems have been developed that decrease tissue motion by inserting the needle very quickly [8,9] or by compressing tissue during needle insertion [10]. Additional strategies have used kinematic and mechanics models to predict tissue deformation and plan insertions that will still reach the targets [11].…”

Section: B Backgroundmentioning

confidence: 99%

Tissue fixation by suction increases the accuracy of robotic needle insertion

Wedlick

Lin

Okamura

2013

2013 IEEE International Conference on Robotics and Automation

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Needles provide percutaneous access to tissues deep within the body in order to deliver therapy or acquire biological samples for diagnostic purposes. The effectiveness of needle-based access often requires very accurate targeting of the needle tip within tissue. We designed a device that uses suction to fixate tissue during robotic needle insertion and measured its ability to improve targeting accuracy and decrease tissue deformation in artificial and ex vivo tissue. The deformation of the tissue was tracked in ultrasound images to evaluate the device's performance. The device was particularly effective at fixating ex vivo tissue with an attached skin layer and decreased tissue deformation by up to 96%. When accessing an embedded target within tissue, suction fixation reduced the targeting error by over 1 mm in chicken breast without a membrane and over 2 mm in chicken breast with an attached skin. Suction fixation could be used to improve the accuracy of robotic needle insertion through the skin and into internal organs with capsules.

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“…11 Hatano M et al proposed the use of a concave semi-circular preloaded pressure bar to squeeze the flexible tissue. 12 After the deformation is completed, the rigid needle can be extended from the inside of the needle. At this time, it can avoid the high hardness obstacle and complete the puncture.…”

Section: Related Workmentioning

confidence: 99%

“…Kobayashi et al proposed a method of preloading breast tissue with a mechanical probe and then inserting a needle to reduce tissue deformation and target displacement during puncture 11 . Hatano M et al proposed the use of a concave semi‐circular preloaded pressure bar to squeeze the flexible tissue 12 . After the deformation is completed, the rigid needle can be extended from the inside of the needle.…”

Section: Introductionmentioning

confidence: 99%

Design and control of a bionic needle puncture robot

Zhang

Liu

2020

Robotics Computer Surgery

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Background The application of minimally invasive interventional breast surgery is becoming more and more widespread. The accurate puncture of breast cancer needs to solve the problems of tissue deformation and target displacement. Methods In this study, we analysed the process of leech blood absorption and developed a robotic needle insertion method based on bionic technology to improve the accuracy of breast cancer diagnosis and treatment. Among them, the design purpose of the sucker manipulator is to adjust and fix the breast tissue. We use uncalibrated visual servo to control soft tissue deformation. Results We compare the puncture effect of bionic needle puncture robot and common needle puncture on breast prosthesis and in vitro tissue. Experimental data shows that, compared with ordinary needle insertion, the robotic needle insertion method based on bionic technology greatly reduces the targeting error. Conclusions This method is expected to provide a safe and effective alternative to traditional puncture for breast cancer diagnosis and treatment.

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Geometry effect of preloading probe on accurate needle insertion for breast tumor treatment

Cited by 7 publications

References 27 publications

Minimally disruptive needle insertion: a biologically inspired solution

Minimally disruptive needle insertion: a biologically inspired solution

Tissue fixation by suction increases the accuracy of robotic needle insertion

Design and control of a bionic needle puncture robot

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