Enhanced Targeting in Breast Tissue Using a Robotic Tissue Preloading-Based Needle Insertion System

Kobayashi, Yo; Suzuki, Makiko; Kato, Akira; Hatano, Maya; Konishi, Kozo; Hashizume, Makoto; Fujie, Masakatsu G.

doi:10.1109/tro.2012.2183055

Cited by 32 publications

(34 citation statements)

References 38 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: 76%

“…The preloading method enhanced the needle insertion accuracy because the tumor displacement during needle insertion is decreasing. Our previous report also suggested that breast tissue with high strain displays nonlinear characteristics and higher stiffness parameters [28]. Pressing by the preloading probe results in high strain in the tissue surrounding the tumor.…”

Section: Discussionmentioning

confidence: 87%

“…Our data from the in vivo experiment also suggests that pressing by the concave probe reduces needle placement error. The major reason to enhance needle insertion accuravy is same as the condition with convex shape probe [28] and described as follows: Many related works have stated that the main puncture event is designated by a peak force applied to the needle that is preceded by a steady rise followed by a sharp decrease [22,23]. That is, when a needle punctures the breast, it does not immediately cut the tissue; instead, it first pushes the tissue and then punctures it.…”

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%

“…The probe pressed the breast at 4 mm/s as the probe axis was adjusted to the center of the tumor lesion using the camera information of tumor position. We stopped the preloading when the reaction force reached 2.0 N. We previously compared insertion accuracy with different loading forces and suggested 2.0 N as the appropriate pressing force that would enhance robustness in insertion accuracy [28]. After the preloading phase, we moved to the needle insertion phase.…”

Section: Condition Of Preloading-based Needle Insertionmentioning

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: 76%

Section: Discussionmentioning

confidence: 87%

Section: Discussionmentioning

confidence: 99%

Section: Objectives and Scope Of This Articlementioning

confidence: 99%

Section: Condition Of Preloading-based Needle Insertionmentioning

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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Robotic system with sweeping palpation and needle biopsy for prostate cancer diagnosis

Ahn

Lee

Kim

et al. 2013

Int J Med Robotics Comput Assist Surg

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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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Enhanced Targeting in Breast Tissue Using a Robotic Tissue Preloading-Based Needle Insertion System

Cited by 32 publications

References 38 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

Robotic system with sweeping palpation and needle biopsy for prostate cancer diagnosis

Design and control of a bionic needle puncture robot

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