TY - GEN
T1 - Robotic system for hybrid diagnosis of prostate cancer
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
AU - Ahn, Bummo
AU - Lee, Hyosang
AU - Park, Kihan
AU - Lee, Jaewon
AU - Rha, Koonho
AU - Kim, Jung
PY - 2011
Y1 - 2011
N2 - Medical robotic system is a reliable method to provide a precise and safe treatment to the patients, especially in the area of urology. The prostate cancers are firmer than normal tissues. Therefore, physicians can detect the prostate cancer with a palpation. In this paper, we developed a robotic system to detect prostate cancers using robotic palpation to find the suspected area of the tissue as well as to localize the area of the needle biopsy. To validate the performance of the developed system, the experiment on soft tissue phantoms was carried out. The results indicate that the system can identify the differences of tissue phantoms within and without inclusions. In addition, the bigger inclusions and the closer inclusions from the surface show larger value of the force response. These results indicate that the developed robotic system can be used to find hard materials such as tumor and malignant tissue in the prostate.
AB - Medical robotic system is a reliable method to provide a precise and safe treatment to the patients, especially in the area of urology. The prostate cancers are firmer than normal tissues. Therefore, physicians can detect the prostate cancer with a palpation. In this paper, we developed a robotic system to detect prostate cancers using robotic palpation to find the suspected area of the tissue as well as to localize the area of the needle biopsy. To validate the performance of the developed system, the experiment on soft tissue phantoms was carried out. The results indicate that the system can identify the differences of tissue phantoms within and without inclusions. In addition, the bigger inclusions and the closer inclusions from the surface show larger value of the force response. These results indicate that the developed robotic system can be used to find hard materials such as tumor and malignant tissue in the prostate.
UR - http://www.scopus.com/inward/record.url?scp=84863431004&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84863431004&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980537
DO - 10.1109/ICRA.2011.5980537
M3 - Conference contribution
AN - SCOPUS:84863431004
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6276
EP - 6281
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -
