Development of a new needle insertion medical robot for breast tumor surgery

In recent years, with the increasingly attention on person's physical health, the treatment of diseases in breast tumors is being paid great attention by all social circles. Recently, the ablation minimal invasive surgery on breast tumors entered people's vision with a lot of advantages. Accurate needle insertion requires solving the problems of tissue deformation and target displacement. Breast biopsy guided by imaging techniques such as ultrasound is widely used to evaluate the suspicious masses in breast. However, there are several problems with this procedure: the complex interaction dynamics between the needle force and the breast tissue will displace the tumor from its original position. It is difficult to accurately puncture, causing surgeons' fatigue, patient' s discomfort, and compromising the integrity of the tissue specimen. In this work, Our system involves a preloading phase and a needle insertion phase. What' s more, we present a new concept for real-time manipulation of a tumor using a robotic controller that monitors the image of the tumor to generate appropriate external force to position the tumor at a desired location.