Enhanced Targeting in Breast Tissue Using a Robotic Tissue Preloading-Based Needle Insertion System.
Yo KobayashiMakiko SuzukiAtsushi KatoMaya HatanoKozo KonishiMakoto HashizumeMasakatsu G. FujiePublished in: IEEE Trans. Robotics (2012)
Keyphrases
- needle insertion
- breast tissue
- breast cancer
- tissue classification
- tissue characterization
- soft tissue
- discriminating power
- textural features
- quantitative evaluation
- tissue deformation
- real time
- interaction model
- cad systems
- force feedback
- finite element model
- logistic regression
- x ray
- medical images
- ground truth
- mobile robot