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

Ahn, Byung Hoon; Lee, Hyosang; Kim, Yeongjin; Kim, Jung

doi:10.1002/rcs.1543

Cited by 13 publications

(12 citation statements)

References 34 publications

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“…It had been reported that a robot could reliably detect the instant of needle puncture using coaxial force sensor without being affected by artifacts 21 . In reality, it is also easy to sense the tissue properties using free hand for skilled radiologists, such as the skin, the muscle, the ligament, etc 22 – 24 .…”

Section: Discussionmentioning

confidence: 99%

Risk of malignancy in thyroid nodules: predictive value of puncture feeling of grittiness in the process of fine-needle aspiration

Luo

Zhang

Huang

et al. 2017

Sci Rep

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Fine-needle aspiration cytology (FNAC) is widely used for diagnosing thyroid nodules. However, there has been no specific investigation about the puncture feeling of grittiness. The aim of the present study was to see if the puncture feeling of grittiness during fine-needle aspiration procedure, combined with standard FNAC, could improve the accuracy in diagnosing thyroid cancer. A total of one thousand five hundred and thirty-one thyroid FNAC specimens acquired between January 2013 and January 2017 were retrospectively retrieved. All cases underwent surgical intervention. The FNAC diagnoses and puncture feeling of grittiness were evaluated and compared with the results of final histopathological diagnoses. The sensitivity, specificity, positive predictive value (PPV) and negative predictive value (NPV) of diagnosis for thyroid nodules by FNAC alone, puncture feeling of grittiness alone, and the combination of FNAC plus grittiness were calculated respectively. The findings of our study suggest that puncture feeling of grittiness is a useful adjunct. Adding puncture feeling of grittiness to FNAC can significantly enhance the ability to differentiate malignant thyroid nodules from benign thyroid nodules. More importantly, we found that puncture feeling of grittiness is surprising trust-worthy in being near perfectly reproducible per individual radiologist, and among different operators.

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Section: Discussionmentioning

confidence: 99%

Risk of malignancy in thyroid nodules: predictive value of puncture feeling of grittiness in the process of fine-needle aspiration

Luo

Zhang

Huang

et al. 2017

Sci Rep

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“…An aim of this work is to try to improve upon the sensitivity of trans‐rectal prostate biopsies which, due to the random nature of the biopsy protocol, can miss smaller cancers. Ahn et al took indentation testing results further and applied them to a robotic‐based prostate biopsy device which can obtain mechanical information about the target tissues, that can then be used to localize suspicious areas for biopsy. While some success in phantom models was achieved, tests on ex‐vivo prostates yielded poorer results, with sensitivity of the robotic‐indenter reaching only 42% and thus further work on this is required, in particular to account for the potential effect that the presence of rectal wall tissue and Denon Villiers fascial tissue may have on the probe.…”

Section: Methods Of Mechanical Characterizationmentioning

confidence: 99%

Direct mechanical characterization of prostate tissue—a systematic review

Kelly¹,

Flood²,

Hoey

et al. 2018

The Prostate

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“…They, in particular, have shown that switching from point by point to sweeping can save examination time. Ahn et al [42,43] have developed a probe for prostate cancer diagnostics. This probe performs a rotational sweep and measures the force during the sweep.…”

Section: Plos Onementioning

confidence: 99%

Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe

Herzig

Maiolino

et al. 2020

PLoS ONE

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This paper provides a solution for fast haptic information gain during soft tissue palpation using a Variable Lever Mechanism (VLM) probe. More specifically, we investigate the impact of stiffness variation of the probe to condition likelihood functions of the kinesthetic force and tactile sensors measurements during a palpation task for two sweeping directions. Using knowledge obtained from past probing trials or Finite Element (FE) simulations, we implemented this likelihood conditioning in an autonomous palpation control strategy. Based on a recursive Bayesian inferencing framework, this new control strategy adapts the sweeping direction and the stiffness of the probe to detect abnormal stiff inclusions in soft tissues. This original control strategy for compliant palpation probes shows a sub-millimeter accuracy for the 3D localization of the nodules in a soft tissue phantom as well as a 100% reliability detecting the existence of nodules in a soft phantom.

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

Abstract: This system can be applied to detect hard materials such as tumor and malignant tissue.

Cited by 13 publications

References 34 publications

Risk of malignancy in thyroid nodules: predictive value of puncture feeling of grittiness in the process of fine-needle aspiration

Risk of malignancy in thyroid nodules: predictive value of puncture feeling of grittiness in the process of fine-needle aspiration

Direct mechanical characterization of prostate tissue—a systematic review

Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe

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