Development of a robotic palpation system for breast tumor diagnosis

• Project/Area Number: 25350577
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Medical systems
• Research Institution: Waseda University
• Principal Investigator: Kobayashi Yo 早稲田大学, 次世代ロボット研究機構/理工学術院, 研究院准教授 (50424817)
• Co-Investigator(Kenkyū-buntansha): FUJIE G Masakatsu 早稲田大学, 理工学術院, 教授 (20339716) ; TSUKUNE Mariko 早稲田大学, 重点領域研究機構, 研究助手 (60726157)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Project Status: Completed (Fiscal Year 2015)
• Budget Amount: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000); Fiscal Year 2015: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000); Fiscal Year 2014: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2013: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
• Keywords: 乳がん診断 / 非線形弾性 / 有限要素解析 / 手術支援ロボット

Outline of Final Research Achievements

Recently, minimally invasive and highly accurate diagnosis technology of breast cancer has been demanded. The purpose of this study was to develop a robotic palpation system for estimating non-linear elastic parameter distribution in breast. In this study, we constructed an offline estimation technique of the non-linear elastic parameters based on pre-planning of the initial palpation conditions.

Research Products

• [Journal Article] Automated palpation for breast tissue discrimination based on viscoelastic biomechanical properties (2015)
  • Author(s): Mariko Tsukune, Yo Kobayashi, Tooyuki Miyashita, and Masakatsu G. Fujie
  • Journal Title: International Journal of Computer Assisted Radiology and Surgery Volume: Vol. 10, Issue 5 Issue: 5 Pages: 593-601
  • DOI: 10.1007/s11548-014-1100-2
  • Peer Reviewed
• [Journal Article] Preloading based needle insertion with a concave probe to enhance targeting in breast tissue (2014)
  • Author(s): Kobayashi Y, Hatano M, Suzuki M, Shiraishi Y, Yambe T , Hashizume M, Fujie M
  • Journal Title: Robomech Journal Volume: 1(17) Issue: 1 Pages: 1-11
  • DOI: 10.1186/s40648-014-0017-4
  • Peer Reviewed / Open Access
• [Journal Article] Enhanced Targeting in Breast Tissue using a Robotic Tissue Preloading-Based Needle Insertion System (2013)
  • Author(s): Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Maya Hatano, Kozo Konishi, Makoto Hashizume and Masakatsu G. Fujie
  • Journal Title: IEEE Transaction on Robotics Volume: vol. 28, no. 3 Issue: 3 Pages: 710-722
  • DOI: 10.1109/tro.2012.2183055
  • Peer Reviewed
• [Journal Article] Developing a method to plan robotic straight needle insertion using a probability-based assessment of puncture occurrence (2013)
  • Author(s): Yo Kobayashi
  • Journal Title: Advanced Robotics Volume: 27(6) Issue: 6 Pages: 417-430
  • DOI: 10.1080/01691864.2013.756385
  • Peer Reviewed
• [Presentation] Feasibility of histological discrimination based on nonlinear viscoelastic tissue parameters (2014)
  • Author(s): Mariko Tsukune, Yo Kobayashi, Tooyuki Miyashita, T. Hoshi, Y. Shiraishi, T. Yambe, M. Hashizume and Masakatsu G. Fujie
  • Organizer: 28th International Congress and Exhibition on Computer Assisted Radiology and Surgery
  • Place of Presentation: Fukuoka, Japan
  • Year and Date: 2014-06-25 – 2014-06-28
• [Presentation] Boundary Condition Generating Large Strain on Breast Tumor for Nonlinear Elasticity Estimation
  • Author(s): Mariko Tsukune, Maya Hatano, Yo Kobayashi, Tomoyuki Miyashita, M. G. Fujie
  • Organizer: 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
  • Place of Presentation: Osaka, Japan
• [Remarks] 医療福祉ロボット研究者 小林洋のHome Page
  • URL: http://www.yokobayashi.info/
• [Remarks] 医療福祉ロボットの研究者 小林洋 Home Page
  • URL: http://www.yokobayashi.info/
• [Remarks] 医療福祉ロボットの研究者 小林洋 Home Page
  • URL: http://www.yokobayashi.info/