A needle insertion concept and robot system for breast tumor

Author(s):  
Honghua Zhao ◽  
Tao Liu ◽  
Mianpeng Chen ◽  
Qianqian Tian ◽  
Zhiping Li ◽  
...  
Author(s):  
Yiyun Wang ◽  
Hongbing Li

In lumbar puncture surgeries, force and position information throughout the insertion procedure is vital for needle tip localization, because it reflects different tissue properties. Especially in pediatric cases, the changes are always insignificant for surgeons to sense the crucial feeling of loss of resistance. In this study, a robot system is developed to tackle the major clinical difficulties. Four different control algorithms with intention recognition ability are applied on a novel lumbar puncture robot system for better human–robot cooperation. Specific penetration detection based on force and position derivatives captures the feeling of loss of resistance, which is deemed crucial for needle tip location. Kinematic and actuation modeling provides a clear description of the hardware setup. The control algorithm experiment compares the human–robot cooperation performance of proposed algorithms. The experiment also dictates the clear role of designed penetration detection criteria in capturing the penetration, improving the success rate, and ensuring operational safety.


2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092785
Author(s):  
Mingyue Lu ◽  
Yongde Zhang ◽  
Haiyan Du

Breast cancer is one of the most frequent cancers and a major cause of cancer death in women. In this article, the design and control of a novel magnetic resonance imaging-compatible breast intervention robot are proposed. The dimensions and tolerance of the robot system are considered, and a novel pitching mechanism is designed to achieve a dexterous operation in the limited space. The magnetic resonance imaging compatibility of the robot materials is tested. The nonmagnetic structure and compact Cartesian mechanism of the robot allow it to operate safely in a magnetic resonance imaging scanner. According to the robot’s structure, a kinematics analysis based on a coupled motions model is established. The workspace simulation analysis of the robot proves that it is suitable for the whole breast surgery. To control the needle insertion tasks, the overall control system in the form of “personal computer (PC) + single-chip micyoco (SCM)” is designed. Finally, the motion control experiment is carried out, and the robot positioning error is 0.37 mm, which proves that the breast intervention robot and its control system designed in this article can meet the requirements of breast intervention.


Author(s):  
Maya Hatano ◽  
Yo Kobayashi ◽  
Makiko Suzuki ◽  
Yasuyuki Shiraishi ◽  
Tomoyuki Yambe ◽  
...  

Author(s):  
Kai SEKINE ◽  
Ryosuke TSUMURA ◽  
Iori IKEDA ◽  
Hiroyasu IWATA

BIOCELL ◽  
2018 ◽  
Vol 42 (1) ◽  
pp. 17-24 ◽  
Author(s):  
B. Zhang ◽  
Y. Zhang ◽  
X. Zhang ◽  
Y. LV

2020 ◽  
pp. 29-32
Author(s):  
Viktor V. Grechko ◽  
◽  
Lyudmila F. Bodrova ◽  
Dmitriy K. Ovchinnikov ◽  

Domestic shorthair 10-year-old cat, not sterilized, not vaccinated, feeding from the table. We went to the clinic with breast cancer. General and special research methods were performed: blood analysis, x-ray examination of the lungs and abdominal ultrasound. Based on anamnesis and clinical examination, the diagnosis was made: a malignant breast tumor. The operation was performed. The operating material is sent for histological examination. Chemotherapy was prescribed. After the fi rst chemotherapy and monitoring of the animal's condition, it was necessary to perform a second unilateral mastoectomy of the remaining mammary glands, but the animal's owners refused to perform the operation. Chemotherapy was performed twice. Re-applied, after a year and a half with a sharp deterioration in the General condition and the appearance of a new tumor on the non-removed mammary glands. The owners refused the necessary treatment and decided to euthanize the cat. At the autopsy, breast neoplasms are presented as tubercles of various sizes. There are pronounced signs of inflammation, ulceration and necrosis foci. In the chest cavity, the lungs are enlarged, there were single and multiple formations of white and brown color, round shape of different diameters, dense consistency. There is a large number of metastases in the liver parenchyma. The organ is enlarged in size, dark brown in color, irregularly colored, with an uneven (bumpy) surface. In General, there are many dense nodes of a round-oval shape of white color, of various diameters. Histological examination of the tumor revealed foci of necrosis, atypical glandular complexes with frequently occurring mitosis figures. This structure indicates a low-grade breast adenocarcinoma. In the lungs, there is an expansion of the alveoli and bronchioles, thinning and rupture of the interalveolar partitions. There is a complex of tumor cells. In the liver, there is a lack of structural units of the liver, hepatocytes disperse chaotically, liver triads do not have a clear localization, atrophy and necrosis are expressed. Metastases in the liver, various forms. In a cat, a breast tumor interpreted as an adenocarcinoma had different biological behavior. At the initial diagnosis-adenocarcinoma of medium differentiation, and a year and a half later-low-grade adenocarcinoma.


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