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KMID : 1147120100160010001
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Journal of the Korean Society of Imaging Informatics in Medicine
2010 Volume.16 No. 1 p.1 ~ p.7
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Simulation for Precise Biopsy Control with 3D CT Images and Measurement of Needle Insertion Force
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Kim Min-Tae
Kim Soo-Hyun
Kim Young-Jae
Nam Kyoung-Won
Shin Heon-Soo
Kim Jin-Sung
Park Chang-Min
Kim Hyun-Boem
Jeong Jong-Sung
Kim Kwang-Gi
Jo Yung-Ho
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Abstract
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In computed tomography (CT)-based biopsy, the lesion is observed and the target tissue of biopsy is identified using CT images prior to the insertion of a biopsy needle. However, major nerves and organs along the path of a biopsy needle also need to be identified to ensure safe and accurate biopsy. In this study, we measured the strength of each organ in a phantom for optimizing the route of biopsy using a 3D image based simulator. The strength of each phantom organ was measured using a biopsy robot, developed and built in this lab, equipped with force sensors located at the base of a biopsy needle. The forces required to insert and extract a biopsy needle were measured along the route, which was set to pass phantom organs such as skin, fat, muscle, liver and bones. Results showed that the force needed to insert or extract a biopsy needle varied depending on the type of organ and the size of the needle. Future research will include the design of master/slave system with force feedback for the precise control of the CT-based biopsy robot based on the analysis of measured forces in this study.
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KEYWORD
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needle, biopsy robot, phantom, force measurement
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