We herein describe a needle insertion method involving tissue preloading for accurate breast tumor treatment. A mechanical preloading probe locates a tumor lesion from ultrasound imaging information and reduces lesion displacement during needle insertion by pressing the breast tissue. We validated the insertion accuracy of this method by numerical simulation and experiments both in vitro and in vivo. For further accuracy enhancement, we evaluated the geometry effect of the preloading probe on needle insertion accuracy by experiments in vitro. We compared the insertion accuracy between insertion with preloading using different probe diameters and normal needle insertion. In addition, we compared insertion accuracy at different tumor depths. The data indicated a tendency for adaptation of larger preloading probe diameters with deeper tumors. This suggests the potential for our method to enhance placement accuracy by real-time geometry regulation.

The use of minimally invasive procedures for breast tumor diagnosis and treatment, such as needle biopsy and radiofrequency ablation (RFA), is steadily increasing. Accurate needle insertion requires solving the problems of tissue deformation and target displacement. In this study, we developed a robotic needle insertion method to improve the precision of diagnostic biopsy and RFA treatment. The mechanical probe was designed to reduce tissue displacement by pressing the breast tissue before needle insertion: a technique that is known as preloading. We focused on the needle insertion phase and evaluated the insertion accuracy achieved. Using a numerical simulation model and an actual hog breast, we compared tissue preloaded needle insertion with normal needle insertion. The data obtained with both test systems showed that targeting errors were greatly reduced using preloading-based needle insertion, as compared with normal needle insertion. The procedure is expected to offer a safe and effective alternative to the traditional methods of needle insertion for breast tissue biopsy or RFA. Our study also revealed the relationship between insertion accuracy and preloading probe force.

We describe a palpation-based needle insertion method for diagnostic biopsy and radiofrequency ablation treatment of a breast tumor. The mechanical palpation probe locates cancerous tissue from ultrasound imaging information and reduces tissue displacement during needle insertion by pressing the breast tissue. We examined the insertion accuracy of this method and compared palpation-based needle insertion with normal needle insertion both in vitro and in vivo. Palpation-based needle insertion had a smaller error, suggesting that this procedure is a safe, effective alternative to traditional methods of breast needle insertion.

We describe here a palpation-based needle insertion method for diagnostic biopsy and treatment of breast cancer. The mechanical palpation probe locates cancerous tissue from force information and reduces tissue displacement during needle insertion. We compared palpation-based needle insertion to normal needle insertion by numerical simulation of a breast tissue model and by experiments in vitro. The data showed palpation-based needle insertion had a smaller error in both tests. Our findings suggest the procedure is a safe, effective alternative to traditional methods of breast tissue biopsy.

Visualization Project is an artistic visualization using Google Earth. This project is composed of two elements: Visualization and communication system Build the Future with 10,000 Tuvaluan for NPO Tuvalu Overview, and Mapping that is constructed of 3300 photographs. The purpose of this project is disclosing actual information about People and Scenery in Tuvalu to the world. It is said that global warming is exposing Tuvalu to the sea level rising. However, we suppose that it is important to understand not only the problem of global warming, but also the real situation of Tuvalu. The Internet is an effective tool for collecting information, but before it was difficult to obtain information of the real situation of Tuvalu on the Internet. Therefore, we produced this project to present the realities of People and Scenery of Tuvalu, to increase interest in Tuvalu, and to receive feedback from all over the world.