Robot-Assisted Real-Time Tumor Manipulation for Breast Biopsy

  title={Robot-Assisted Real-Time Tumor Manipulation for Breast Biopsy},
  author={Vishnu Mallapragada and Nilanjan Sarkar and Tarun Kanti Podder},
  journal={2008 IEEE International Conference on Robotics and Automation},
Breast biopsy guided by imaging techniques such as ultrasound is widely used to evaluate suspicious masses within the breast. The current procedure allows the clinician to determine the location and extent of a tumor in the patient breast before inserting the needle. However, there are several problems with this procedure: the complex interaction dynamics between the needle force and the breast tissue will likely displace the tumor from its original position, necessitating multiple insertions… CONTINUE READING
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