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

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• 作者：Yo Kobayashi ; Maya Hatano ; Makiko Suzuki ; Yasuyuki Shiraishi…
• 关键词：Needle insertion ; Breast ; Surgical robot ; Preloading ; Palpation
• 刊名：ROBOMECH Journal
• 出版年：2014
• 出版时间：December 2014
• 年：2014
• 卷：1
• 期：1
• 全文大小：3033KB
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• 作者单位：Yo Kobayashi (1)
  Maya Hatano (1)
  Makiko Suzuki (1)
  Yasuyuki Shiraishi (2)
  Tomoyuki Yambe (2)
  Makoto Hashizume (3)
  Masakatsu G Fujie (1)
  
  1. Faculty of Science and Engineering (Research Institute for Science and Engineering), Waseda University, 59-309, 3-4-1 Okubo, 169-8555, Shinjuku-ku, Tokyo, Japan
  2. Department of Medical Engineering and Cardiology, Institute of Development, Aging and Cancer, Tohoku University, Sendai, Japan
  3. Faculty of Medical Sciences, Kyushu University, Fukuoka, Japan
  
• 刊物类别：Robotics and Automation; Mechatronics; Artificial Intelligence (incl. Robotics); Control; Computatio
• 刊物主题：Robotics and Automation; Mechatronics; Artificial Intelligence (incl. Robotics); Control; Computational Intelligence;
• 出版者：Springer International Publishing
• ISSN：2197-4225

文摘

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. Keywords Needle insertion Breast Surgical robot Preloading Palpation