• Journal of the Korean Society for Precision Engineering
• /
• v.33 no.7
• /
• pp.565-570
• /
• 2016

This paper presents the characteristics related to needle insertion of a robotic device for the automated biopsy procedure. The automated biopsy device, a main component of the robotic needle insertion type intervention system, allows performance of the full biopsy procedure, except for anesthesia, without direct handling of a radiologist or a tele-operated control. In this study, the needle length parameters corresponding to various insertion depths and precision for needle insertion of the automated biopsy device, are discussed. There were two combinations of needle length parameters for appropriate needle insertion and motion capture-based measurement was performed; 0.156 mm error for the 90 mm length commanded insertion displacement was measured. The pre-defined goal is a maximum 1 mm error and thus our measured error is within the acceptable range. In the repeatability check, it was also shown that the device can implement a highly accurate insertion.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2010.05a
• /
• pp.1185-1186
• /
• 2010

• Tuberculosis and Respiratory Diseases
• /
• v.44 no.5
• /
• pp.1011-1018
• /
• 1997

Background : To evaluate how efficaciously and safely we can make transthoracic lung biopsy with an 18-gauge automated biopsy device. Methods : We performed 130 transthoracic needle biopsies including 16 repeat biopsies in 114 patients with a pulmonary mass using an l8-gauge biopsy device (ASAP 18, Microvasive-. Eighty-three biopsies were performed by an experienced radiologist and 47 by several less experienced radiologists. All biopsies were guided by biplane fluoroscopy. Results : We successfully obtained sufficient tissue(>2-mm in the length) in 128(985) of 130 biopsies. Biopsy provided the specific diagnosis in 97 (85%) of 114 patients including 78 (88%) of 89 patients with a malignant tumor and 19 (90%) of 21 patients with a benign condition. The diagnosis could not be made in the remaining four patients. Of interest to note was the superb capability (74/74) of biopsy to make a distinction between small cell carcinoma and non-small cell carcinoma. There was no significant difference in the diagnostic yields between the experienced and less experienced radiologists. Of the total 130 biopsies, pneumothorax appeared in 13 (10%), among which treatment was required in 2 (2%), Mild, self-limiting hemoptysis was nod in seven (5%), but in no case was the treatment required. Conclusion : We conclude transthoracic lung biopsy with an 18-gauge automated device is an effective procedure for the specific diagnosis of benign and malignant lung disease. It is safe with the complication rate comparable to that of fine-needle aspiration biopsy as well.

• Journal of radiological science and technology
• /
• v.46 no.2
• /
• pp.151-157
• /
• 2023

The purpose of this study was to develop an assist device that could correct and support patient position during biopsy on computed tomography (CT) using 3D printing technology. The development method was conducted in the order of 3D design, 3D output, intermediate evaluation for product, final assist device evaluation. The 3D design method was conducted in the order of prior research data survey, measurement, primary modeling, 3D printing, output evaluation, and supplementary modeling. The 3D output was the 3D printer (3DWOX 2X, Sindoh, Korea) with additive manufacturing technology and the polylactic acid (PLA) materials. At this time, the optimal strength was evaluated to infill degree of product as the 3D printing factors into 20%, 40%, 60%, and 80%. The intermediate evaluation and supplementation was measured noise in the region of interest (ROI) around the beam hardening artifact on the CT images. We used 128-channel MDCT (Discovery 75 HD, GE, USA) to scan with a slice thickness of 100 kVp, 150 mA, and 2.5 mm on the 3D printing product. We compared the surrounding noise of the final 3D printing product with the beginning of it. and then the strength of it according to the degree of infill was evaluated. As a result, the surrounding noise of the final and the early devices were measured at an average of 3.3 ± 0.5 HU and 7.1 ± 0.1 HU, respectively, which significantly reduced the noise of the final 3D printing product (p<0.001). We found that the percentage of infill according to the optimal strength was found to be 60%. Finally, development of assist devices for CT biopsy will be able to minimize artifacts and provide convenience to medical staff and patients.

• Journal of radiological science and technology
• /
• v.47 no.2
• /
• pp.97-105
• /
• 2024

The examination needle used in ultrasound biopsy is a medical device used to determine whether there is an abnormality in the tissue. Typically, stainless steel is the standard material used for such needles; however, this study wanted to identify a material that could better enhance sound compared to traditional stainless steel. In this study, six types of needle materials available with the biopsy gun were inserted into pork and ultrasound images according to the curved probe and linear probe were evaluated using ultrasound equipment. The findings revealed significant improvements in ultrasound acoustic enhancement with alternative materials compared to stainless steel (p<0.05). The results regarding the depth of each ultrasound image using the curved probe showed that tungsten and brass had high sound enhancement(p<0.05), while with the linear probe, sound enhancement was high in brass, pla, aluminum, and copper(p<0.05). Due to these results, the previously used stainless needle showed lower ultrasound acoustic enhancement than the five types of materials being compared. Consequently, the outcomes of this study provide valuable insights for the development of new needle technologies aimed at minimizing patient risks and improving diagnostic accuracy.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.8
• /
• pp.590-596
• /
• 2016

Biopsy is a typical needle type intervention procedure performed under radiographic image equipment such as computed tomography (CT) and cone-beam CT. This minimal invasive procedure is a simple and effective way for identifying cancerous condition of a suspicious tissue but radiation exposure for the patients and interventional radiologists is a critical problem. In order to overcome such trouble and improve accuracy in targeting of the needle, there have been various attempts using robot technology. Those devices and systems, however, are not for full procedure automation in biopsy without consideration for tissue sampling task. A robotic end-effector of a master-slave tele-operated needle type intervention robot system has been proposed to perform entire biopsy procedure by the authors. However, motorized sampling adopted in the device has different cutting speed from that of biopsy guns used in the conventional way. This paper presents the design of a novel robotic mechanism and protocol for the automation of biopsy procedure using spring-triggered biopsy gun mechanism. An experimental prototype has been successfully fabricated and shown its feasibility of the automated biopsy sequence.

• Asian Pacific Journal of Cancer Prevention
• /
• v.15 no.15
• /
• pp.6081-6086
• /
• 2014

Background: To evaluate the effectiveness of Microlux/DL with and without toluidine blue in screening of potentially malignant and malignant oral lesions. Materials and Methods: In this diagnostic clinical trial clinical examination was carried out by two teams: 1) two oral medicine consultants, and 2) two general dentists. Participants were randomly and blindly allocated for each examining team. A total of 599 tobacco users were assessed through conventional oral examination (COE); the examination was then repeated using Microlux/DL device and toluidine blue. Biopsy of suspicious lesions was performed. Also clinicians opinions regarding the two tools were obtained. Results: The sensitivity and, specificity and positive predictive value (PVP) of Microlux/DL for visualization of suspicious premalignant lesions considering COE as a gold standard (i.e screening device) were 94.3%, 99.6% and 96.2% respectively, while they were 100%, 32.4% and 17.9% when considering biopsy as a gold standard. Moreover, Microlux/DL enhanced detection of the lesion and uncovered new lesions compared to COE, whereas it did not alter the provisional clinical diagnosis, or alter the biopsy site. On the other hand, adding toluidine blue dye did not improve the effectiveness of the Microlux/DL system. Conclusions: The Microlux/DL seems to be a promising adjunctive screening device.

• The Journal of the Korea Contents Association
• /
• v.22 no.7
• /
• pp.676-683
• /
• 2022

Minimizing patient movement during CT-guided lung biopsy is an important factor in the procedure. To minimize movement, a vacuum cushion was used to evaluate its effectiveness. The subjects of this study were 116 patients aged 40 years or older who had good coordination with postural fixation and breathing control. Posture measurements were performed in the supine position, prone position, oblique position, and lateral position according to each position of the lung lesion biopsy lesion. Measurement positions were measured in the anterior, posterior, right, and left positions based on the anatomical posture. In the prone position, the mean difference between the non-use and the use of the posterior was 1.7905, and t=2.913 (p<0.01), and the mean difference between the non-use/use was statistically significant. The difference between the unused and used averages of left was 2.4105, and the difference between the left averages was also significant with t=3.684 (p<0.01). The difference between the unused and used averages of the right was 2.3263, with t=3.791 (p<0.01). The mean difference between unused and used is statistically significant. As a result of statistical analysis, the biopsy of the lung lesion using a fixation device showed less movement in all postures. It is considered that it is meaningful in that it is possible to conduct a more accurate biopsy procedure and minimize the patient's posture movement by using a fixation device during the CT-guided biopsy of the lung lesion.

• Journal of the Korean Society of Radiology
• /
• v.84 no.2
• /
• pp.320-331
• /
• 2023

Mammography has been the standard screening method for breast cancer. In women with suspicious calcifications and architectural distortion identified on mammography or digital breast tomosynthesis only without detected on breast US, stereotactic biopsy and mammography-guided preoperative localization is one of the method for pathologic diagnosis. This review aims to describe the indication, contraindication, technique of stereotactic biopsy, clip placement after stereotactic biopsy, and digital breast tomosynthesis-guided stereotactic biopsy. In addition, this article reviews mammography-guided preoperative localization using a wire or non-wire device.

• Clinical Endoscopy
• /
• v.51 no.6
• /
• pp.576-583
• /
• 2018

Background/Aims: Endoscopic ultrasound-guided fine needle aspiration (EUS-FNA) remains the most common EUS-guided tissue acquisition technique. This study aimed to evaluate the performance of a new Franseen tip fine needle biopsy (FNB) device for EUSguided sampling of solid lesions and compare it with the historical FNA technique. Methods: $Acquire^{(R)}$ 22 G FNB needle (Boston Scientific Co., Natick, MA, USA) was used for solid tumor sampling (Study group). Tissue was collected for rapid on-site evaluation, and touch and crush preparations were made. Historical EUS-FNA samples obtained using $Expect^{(R)}$ 22 G FNA needle (Boston Scientific Co.) were used as controls (Control group). All specimens were independently evaluated by two cytopathologists blinded to the formal cytopathological diagnosis. Results: Mean cell block histology scores were significantly higher (p=0.046) in the FNB group (51 samples) despite a significantly lower (p<0.001) mean number of passes compared to the FNA group (50 specimens). The overall diagnostic yields for the FNB vs. FNA groups were 96% vs. 88%. The degree of tumor differentiation was adequately assessed in all cell block qualifying lesions in the FNB group. Two patients developed post-FNB abdominal pain. Conclusions: The new Franseen tip FNB device provides histologically superior and cytologically comparable specimens to those obtained by FNA, but with fewer passes.