A robotic system for real-time tumor manipulation during image guided breast biopsy

Proceedings of the 7th IEEE International Conference on Bioinformatics and Bioengineering, BIBE

Volumn , Issue , 2007, Pages 204-210

  Mallapragada, Vishnu ^a   Sarkar, Nilanjan ^a   Podder, Tarun K ^b  

^a VANDERBILT UNIVERSITY   (United States)

^b THOMAS JEFFERSON UNIVERSITY HOSPITAL   (United States)

Author keywords

Breast biopsy; PI control; Real time tumor manipulation; Robot assisted biopsy

Indexed keywords

ACOUSTIC WAVES; BIOINFORMATICS; BIOPSY; IMAGING TECHNIQUES; NEEDLES; ROBOTICS; ROBOTS; TWO TERM CONTROL SYSTEMS; ULTRASONIC IMAGING; ULTRASONICS;

BREAST BIOPSY; BREAST TISSUES; COMPLEX INTERACTIONS; EXTERNAL FORCES; FORCE CONTROLLERS; LABORATORY EXPERIMENTS; NEEDLE FORCES; NEW CONCEPTS; PI CONTROL; REAL-TIME TUMOR MANIPULATION; ROBOTIC SYSTEMS; TISSUE DAMAGES; TISSUE SPECIMENS; ULTRASOUND IMAGING;

TUMORS;

EID: 47649086181     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BIBE.2007.4375566     Document Type: Conference Paper

References (17)

1. American Cancer Society, "Cancer Facts & Figures-2007," http://www.cancer.org/downloads/STT/CAFF2007PWSecured.pdf, accessed on 19th May 2007.
2. J. G. Elmore, K. Armstrong, C. D. Lehman, S. W. Fletcher, "Screening for Brest Cancer," in the Journal of American Medical Association, Vol. 293, No. 10, pp. 1245-1256, March 2005.
3. F. S. Azar, D. N. Metaxas, M. D. Schnall, "Methods for modeling and predicting mechanical deformations of the breast under external perturbations," Medical image Analysis, Vol 6, pp 1-27, 2002.
4. S. Okazawa, R. Ebrahimi, J. Chuang, S. E. Salcudean, R. Rohling, "Hand-held steerable needle device," IEEE/ASME Transactions on Mechatronics, Vol 10, pp 285-296, June 2005.
5. N. V. Tsekos, J. Shudy, E. Yacoub, P. V. Tsekos, I. G. Koutlas, "Development of a robotic device for MRI-guided interventions in the breast," in Proc. Bioinformatics and Bioengineering Conference, 2001, 201-208.
6. W. L. Smith, K. J. M. Surry, G. R. Mills, D. B. Downy, and A. Fenster, "Three-dimensional ultrasound-guided core needle breast biopsy," Ultrasound Med. Biol., vol. 27, no. 8, pp. 1025-1034, 2001.
7. D. Stoianovici, L. Whitcomb, J. Anderson, R. Taylor, and L. Kavoussi, "A modular surgical robotic system for image guided percutaneous procedures," in Proc. MICCAI, vol. 1496, LNCS, 1998, pp. 404-410.
8. K. Cleary,M. Freedman, M. Clifford, D. Lindisch, S. Onda, and L. Jiang, "Image-guided robotic delivery system for precise placement of therputic agents," J. Controlled Release, vol. 74, no. 1, pp. 363-368, July 2001.
9. A. Patriciu, S. Solomon, L. Kavoussi, and D. Stoianovici, "Robotic kidney and spine percutaneous procedures using a new laser-based CT registration method," in Proc. MICCAI, vol. 2208, LNCS, 2001, pp.249-257.
10. P. Wunderbaldinger, T. H. Helbich, B. Partik, K. Turetschek, and G. Wolf, "First experience with a newdedicated ultrasound system for computer-guided large-core breast biopsy," Eur. Radiol., vol. 11, no. 12, pp.2460-2464, Dec. 2001.
11. D. Stoianovici et al., "A novel mechanical transmission applied to percutaneous renal access," in Proc. ASME Dynamic Systems Control Division, DSC, vol. 61, 2001, pp. 401-406.3
12. F. S. Azar, D. N. Metaxas, M. D. Schnall, "A finite model of the breast for predicting mechanical deformations during biopsy procedure," in IEEE Workshop on Mathematical Methods in Biomedical Image Analysis, 2000, pp 38-45.
13. T. Wada, S. Hirai, S. Kawamura, N. Kamiji, "Robust manipulation of deformable objects by a simple PID feedback," in Proc. International Conference on Robotics and Automation, 2001, pp 85-90.
14. N. H. McClamroch, "Displacement control of flexible structures using electrohydraulic servo-actuators," Journal of Dynamic Systems, Measurement and Control, Vol 107, pp 34-39, March 1985.
15. P. Wellman, "Tactile imaging", PhD thesis, Division of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, 1999.
16. H. Olsson, K. J. Astrom, "Friction generated limit cycles", IEEE Transactions on Control Systems Technology, Vol 9, pp 629-636, July 2001.
17. B. Surampudi, G. Langari, "A fuzzy cancellation of stick-slip in DC motors", Third International Conference on Industrial Fuzzy Control and Intelligent Systems, pp 24-20, Dec 1993.