Development of a robotic palpation system for breast tumor diagnosis

2015 Fiscal Year Final Research Report

• 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
• 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.

Free Research Field

医療ロボティクス