In vitro and in vivo validation of robotic palpation-based needle insertion method for breast tumor treatment

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

doi:10.1109/icra.2011.5979896

Cited by 6 publications

(8 citation statements)

References 25 publications

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“…Smaller error with preloading-based insertion than with normal insertion was obtained in all experiments [25][26][27][28].…”

Section: Motivationmentioning

confidence: 88%

“…The other potential advantage of concave shape stabilize the tumor at right angles to the direction of needle insertion. The futher investigation should be carried out about this issue while the advantage was partially supported by our previous result [27].…”

Section: Discussionmentioning

confidence: 99%

“…The shape of preloading probe in our previous paper [25][26][27][28] was the round convex shape (termed 'convex probe') with a certain diameter. The shape and size of preloading probe is not limited to the condition and preloading concept can be extended to other shape and size of preloading probe.…”

Section: Objectives and Scope Of This Articlementioning

confidence: 99%

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Preloading based needle insertion with a concave probe to enhance targeting in breast tissue

et al. 2014

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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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“…Smaller error with preloading-based insertion than with normal insertion was obtained in all experiments [25][26][27][28].…”

Section: Motivationmentioning

confidence: 88%

Section: Discussionmentioning

confidence: 99%

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Preloading based needle insertion with a concave probe to enhance targeting in breast tissue

et al. 2014

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“…Thus, combined with the dynamic model of the robot manipulator as equation (5), the mathematical model for the entire tendon-based robotic system will be…”

Section: Nnpid Controller Designmentioning

confidence: 99%

“…Mallapragada et al 4 designed a manipulator with two perpendicular linear actuators for breast tumor biopsy under guidance of ultrasound (US) imaging system. Hatano et al 5 developed an US imaging–guided robotic system mainly used for biopsy or radiofrequency ablation (RFA) treatment of breast cancer.…”

Section: Introductionmentioning

confidence: 99%

Design, analysis and control of a novel tendon-driven magnetic resonance–guided robotic system for minimally invasive breast surgery

Jiang

Lou

Yang

et al. 2015

Proc Inst Mech Eng H

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Biopsy and brachytherapy for small core breast cancer are always difficult medical problems in the field of cancer treatment. This research mainly develops a magnetic resonance imaging-guided high-precision robotic system for breast puncture treatment. First, a 5-degree-of-freedom tendon-based surgical robotic system is introduced in detail. What follows are the kinematic analysis and dynamical modeling of the robotic system, where a mathematic dynamic model is established using the Lagrange method and a lumped parameter tendon model is used to identify the nonlinear gain of the tendon-sheath transmission system. Based on the dynamical models, an adaptive proportional-integral-derivative controller with friction compensation is proposed for accurate position control. Through simulations using different sinusoidal input signals, we observe that the sinusoidal tracking error at 1/2π Hz is 0.41 mm. Finally, the experiments on tendon-sheath transmission and needle insertion performance are conducted, which show that the insertion precision is 0.68 mm in laboratory environment.

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

Hatano

Kobayashi

Suzuki

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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In vitro and in vivo validation of robotic palpation-based needle insertion method for breast tumor treatment

Cited by 6 publications

References 25 publications

Preloading based needle insertion with a concave probe to enhance targeting in breast tissue

Preloading based needle insertion with a concave probe to enhance targeting in breast tissue

Design, analysis and control of a novel tendon-driven magnetic resonance–guided robotic system for minimally invasive breast surgery

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

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