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The chemotherapy magnetically controlled under Magnetic Resonance Imaging (MRI) is currently one of the active areas of cancer research. This paper proposes a precise model of a therapeutic microrobot magnetically steered in blood vessels. This modeling approach takes into account the non-Newtonian behavior of blood, as well as wall effect on the blood's profile and robot-to-wall interaction forces...
Magnetic Resonance Targeting (MRT) uses MRI for gathering tracking data to determine the position of microscale entities with the goal of guiding them towards a specific target in the body accessible through the vascular network. At full capabilities, a MRT platform designed to treat a human would consist of a clinical MRI scanner running special algorithms and upgraded to provide propulsion gradient...
We describe here a palpation-based needle insertion method for diagnostic biopsy and treatment of breast cancer. The mechanical palpation probe locates cancerous tissue from force information and reduces tissue displacement during needle insertion. We compared palpation-based needle insertion to normal needle insertion by numerical simulation of a breast tissue model and by experiments in vitro. The...
There are various medical treatments for breast cancer. One of the most minimally invasive and promising medical treatments for early-stage noninvasive breast cancer is radiofrequency ablation (RFA). RFA can reduce both mental and physical damage to women with breast cancer. However, it is very difficult to accurately insert diagnosis and treatment needles in cases of early-stage breast cancer, because...
One of the most minimally invasive and promising medical treatments for early-stage breast cancer is radio frequency ablation (RFA). However, with RFA it is difficult to insert the needle into the cancer because of the needle deforms the organ and, therefore, displaces the cancer. To solve this problem, we have developed a novel approach called "palpation based needle insertion." to achieve...
A needle-holding robot for microwave ablation therapy is developed to free two hands of the surgeon, so that more effort can be concentrated on monitoring the ablation procedure, which in turn guarantees good tumor ablation effect. The overall architecture of the robot is introduced first with the explanation of the mechanism of 3D motion tracking and how to minimize damping force for the robotic...
The 10 mm incisions used in minimally invasive cancer surgery prevent direct manual palpation of internal organs, making intraoperative tumor localization difficult. A tactile sensing instrument (TSI), that uses a commercially available sensor to measure distributed pressure profiles along the contacting surface, has been developed to facilitate remote tissue palpation. The objective of this research...
Needle insertion treatments require accurate placement of the needle tip into the target cancer. However, it is difficult to insert the needle into the cancer because of cancer displacement due to the organ deformation. Then, a path planning using numerical simulation to analyze the deformation of the organ and the timing of puncture is important for the accurate needle insertion. In this study, we...
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