A robotic palpation-based needle insertion method for diagnostic biopsy and treatment of breast cancer

Author(s):  
Yo Kobayashi ◽  
Makiko Suzuki ◽  
Atsushi Kato ◽  
Kozo Konishi ◽  
Makoto Hashizume ◽  
...  
2019 ◽  
Vol 04 (01) ◽  
pp. 1842005
Author(s):  
Ryosuke Tsumura ◽  
Yusuke Takishita ◽  
Hiroyasu Iwata

Because fine needles can easily be deflected, accurate needle insertion is often difficult. Lower abdominal insertion is particularly difficult because of less imaging feedback; thus, an approach for allowing a straight insertion path by minimizing deflection is beneficial in cases of lower abdominal insertion. Although insertion with axial rotation can minimize deflection, the rotational insertion may cause tissue damage. Therefore, we established a novel insertion method for minimizing both deflection and tissue damage by combining rotation and vibration. Using layered tissues, we evaluated the effect of a combination of rotation and vibration in terms of deflection and tissue damage, which were measured by the insertion force and torque, and the area of the hole created by the needle using histological tissue sections to measure tissue damage. The experimental results demonstrated that insertion with unidirectional rotation is risky in terms of tissue wind-up, while insertion with bidirectional rotation can decrease deflection and avoid wind-up. We also found that insertion with vibration can decrease the insertion force and torque. Therefore, insertion with a combination of bidirectional rotation and vibration can minimize needle deflection and tissue damage, including the insertion force and torque and the hole area.


2005 ◽  
Vol 76 ◽  
pp. S27
Author(s):  
V. Lagerburg ◽  
M. Moerland ◽  
M. Konings ◽  
R. Van de Vosse ◽  
J. Lagendijk ◽  
...  

2014 ◽  
Vol 709 ◽  
pp. 436-440 ◽  
Author(s):  
Lei Tan ◽  
Xue Mei Qin ◽  
Hong Cai Zhang ◽  
Qing Xin ◽  
Qin He Zhang

Biopsy is a common medical procedure to treat and diagnose prostate cancer and breast cancer. Needle insertion is a critical step in biopsy, but the inserting force has a big effect on precision of needle insertion. A new method is presented to reduce the penetration force, and then improve the precision of needle insertion in this paper. Preloaded piezo actuator was introduced to provide biomimetic vibration for needle during needle insertion into a pork liver, just as a fascicle insertion into the skin by a mosquito. The experimental results showed that the penetration force was reduced 26.7% compared with the force without biomimetic vibration.


2009 ◽  
Vol 27 (15_suppl) ◽  
pp. 571-571
Author(s):  
K. D. Crew ◽  
J. Capodice ◽  
H. Greenlee ◽  
L. Brafman ◽  
D. Fuentes ◽  
...  

571 Background: Aromatase inhibitors (AIs) have become the standard of care for the treatment of postmenopausal, hormone-sensitive breast cancer (BC). However, patients receiving AIs may experience joint symptoms which can lead to early discontinuation of this effective therapy. We examined whether acupuncture improves AI-induced arthralgias in women with early stage BC. Methods: This study is a randomized, single-blinded trial of true vs sham acupuncture twice weekly for 6 weeks in postmenopuasal women with early stage BC and self-reported musculoskeletal pain related to adjuvant AI therapy. The active intervention included full body/auricular acupuncture and a joint-specific point prescription, whereas the sham arm involved superficial needle insertion at nonacupoint locations. Outcome measures included the Brief Pain Inventory-Short Form (BPI-SF), Western Ontario and McMaster Universities Osteoarthritis Index(WOMAC), and Modified Score for the Assessment and Quantification of Chronic Rheumatoid Affections of the Hands (M-SACRAH) obtained at baseline, 3 and 6 weeks. Lower scores reflect improvement in symptoms. Results: Of 43 women enrolled, 38 were evaluable at 6 weeks. Baseline characteristics were comparable between the groups. Median age: 57 (37–77); White/Hispanic/Black/Asian: 15/21/1/1; median body mass index (kg/m2): 29 (18–45). True acupuncture was associated with about a 50% decrease in mean BPI-SF scores, whereas no change from baseline was observed for the sham acupuncture group (see table). Similar findings were seen for the WOMAC and M-SACRAH pain, stiffness, and function scores (P<0.05). No adverse events were reported. Conclusions: Women with AI-induced arthralgias treated with acupuncture had significant improvement of joint pain and stiffness, which was not seen with sham acupuncture. Acupuncture is an effective and well-tolerated strategy for managing this common treatment-related side effect. [Table: see text] No significant financial relationships to disclose.


2017 ◽  
Vol 35 (15_suppl) ◽  
pp. e12532-e12532
Author(s):  
Troels Dreier Christensen ◽  
Anna Sofie Kappel Buhl ◽  
Ib Jarle Christensen ◽  
Knud Mejer Nelausen ◽  
Eva Balslev ◽  
...  

e12532 Background: Exemestaneis a steroidal aromatase inhibitor used in the treatment of postmenopausal patients with estrogen receptor(ER)-positive adjuvant and advanced breast cancer. We aimed to determine the predictive value of a multigene mRNA-based mathematical algorithm (Drug Response Predictor (DRP)) for benefit of exemestane. The DRP is founded on measuring the full cancer transcriptome in sensitive and drug resistant cell lines compared with expression patterns in tumors and broadly validated in several studies (Wang et al. JNCI (2013) 105 (17): 1284-1291.) (Knudsen, S. et al. PLoS One (2014) 9(2): e87415.) (Christensen, TD et al. J Clin Oncol (2016) 34: suppl; abstr e12056.) (Kappel, IB et al. J Clin Oncol (2016) 34: suppl; abstr e20007.). Methods: Among 838 consecutive patients from a DBCG cohort with advanced breast cancer treated at 10 participating sites we identified 163 patients who between November 2008 and November 2015 initiated exemestane. All but one patient were ER-positive. Patients were evaluated every 3 to 4 months using CT scans and clinical examination. After patient informed consent mRNA was extracted and assayed on Affymetrix Gene Chip U133p2 arrays from formalin fixed paraffin embedded diagnostic biopsies. The primary endpoint was progression free survival (PFS). Analysis of the DRP’s ability to predict PFS was performed using a Cox regression model adjusted for treatment line. Results: Median PFS was 8.5 months. Of the 163 patients, 101 received prior adjuvant antihormone therapy and 60 did not. Data regarding adjuvant therapy was inaccessible for two patients. Hazard ratios for patients with predicted good vs. poor effect of exemestane are shown in the table. Conclusions: In a clinical setting, a mathematical algorithm using mRNA from a diagnostic biopsy can in patients unexposed to previous adjuvant endocrine therapy with statistical significance predict who will benefit from exemestane. [Table: see text]


2018 ◽  
Vol 35 (6) ◽  
pp. 406-416 ◽  
Author(s):  
Kathryn A. Birnie ◽  
Yalinie Kulandaivelu ◽  
Lindsay Jibb ◽  
Petra Hroch ◽  
Karyn Positano ◽  
...  

Purpose: Needle procedures are among the most distressing aspects of pediatric cancer-related treatment. Virtual reality (VR) distraction offers promise for needle-related pain and distress given its highly immersive and interactive virtual environment. This study assessed the usability (ease of use and understanding, acceptability) of a custom VR intervention for children with cancer undergoing implantable venous access device (IVAD) needle insertion. Method: Three iterative cycles of mixed-method usability testing with semistructured interviews were undertaken to refine the VR. Results: Participants included 17 children and adolescents (8-18 years old) with cancer who used the VR intervention prior to or during IVAD access. Most participants reported the VR as easy to use (82%) and understand (94%), and would like to use it during subsequent needle procedures (94%). Based on usability testing, refinements were made to VR hardware, software, and clinical implementation. Refinements focused on increasing responsiveness, interaction, and immersion of the VR program, reducing head movement for VR interaction, and enabling participant alerts to steps of the procedure by clinical staff. No adverse events of nausea or dizziness were reported. Conclusions: The VR intervention was deemed acceptable and safe. Next steps include assessing feasibility and effectiveness of the VR intervention for pain and distress.


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