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The use of minimally invasive procedures for breast tumor diagnosis and treatment, such as needle biopsy and radiofrequency ablation (RFA), is steadily increasing. Accurate needle insertion requires solving the problems of tissue deformation and target displacement. In this study, we developed a robotic needle insertion method to improve the precision of diagnostic biopsy and RFA treatment. The mechanical...
This paper addresses a diagnostic palpation system based on the measurement of nonlinear elasticity. An indentation probe is used to press against breast tissue. Then, the measured reaction force is used to estimate the parameters of nonlinear elasticity, which enables the identification of tissue type, such as fat, muscle, mammary gland or tumor. Here, we present the basic concept of our study and...
As the number of breast cancer patients increases, there is an increasing need for accurate non-invasive methods for the diagnosis of breast cancer. It is possible that the nonlinear elastic properties of soft tissues of the breast can be used as a basis for diagnostic methods. Therefore, we have proposed a robotic palpation system for diagnosis based on the nonlinear elastic properties of tissue...
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