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WO2000013591A1 - Procede et systeme d'imagerie tactile destines a un examen du cancer du sein et a la detection du cancer de la prostate - Google Patents

Procede et systeme d'imagerie tactile destines a un examen du cancer du sein et a la detection du cancer de la prostate Download PDF

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Publication number
WO2000013591A1
WO2000013591A1 PCT/US1999/020448 US9920448W WO0013591A1 WO 2000013591 A1 WO2000013591 A1 WO 2000013591A1 US 9920448 W US9920448 W US 9920448W WO 0013591 A1 WO0013591 A1 WO 0013591A1
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WO
WIPO (PCT)
Prior art keywords
human
data signals
contact
breast
array sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US1999/020448
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English (en)
Inventor
Y. Joseph Wang
Matthew T. Freedman
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Catholic University of America
Original Assignee
Catholic University of America
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Catholic University of America filed Critical Catholic University of America
Priority to AU60282/99A priority Critical patent/AU6028299A/en
Publication of WO2000013591A1 publication Critical patent/WO2000013591A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/43—Detecting, measuring or recording for evaluating the reproductive systems
    • A61B5/4306—Detecting, measuring or recording for evaluating the reproductive systems for evaluating the female reproductive systems, e.g. gynaecological evaluations
    • A61B5/4312—Breast evaluation or disorder diagnosis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0048—Detecting, measuring or recording by applying mechanical forces or stimuli
    • A61B5/0053—Detecting, measuring or recording by applying mechanical forces or stimuli by applying pressure, e.g. compression, indentation, palpation, grasping, gauging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/43—Detecting, measuring or recording for evaluating the reproductive systems
    • A61B5/4375—Detecting, measuring or recording for evaluating the reproductive systems for evaluating the male reproductive system
    • A61B5/4381—Prostate evaluation or disorder diagnosis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6825—Hand
    • A61B5/6826—Finger
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/683—Means for maintaining contact with the body
    • A61B5/6838—Clamps or clips
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/30—Anatomical models
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0247—Pressure sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/04—Arrangements of multiple sensors of the same type
    • A61B2562/046—Arrangements of multiple sensors of the same type in a matrix array

Definitions

  • Palpation is one of the most commonly performed methods of detecting breast cancer due to its inexpensiveness . Women are advised to perform breast self-examination (BSE) at least monthly. Patients detect a large fraction of breast cancers by following an appropriate BSE. Palpation is also an important tool for physicians in the diagnosis of breast cancer. Clinical breast examination (CBE) permits the physician to conveniently and non-invasively evaluate a suspected tumor. Skilled physicians use palpation to quickly determine whether further investigation is required, or that a lump is benign.
  • BSE breast self-examination
  • CBE Clinical breast examination
  • the above objects and others are accomplished by a method and apparatus for sensing a cancerous type of growth in a human.
  • the method includes placing a tactile array sensor in contact with a portion of the human' s body, to generate data signals corresponding to pressure gradients encountered by portions of the tactile array sensor.
  • the data signals are then processed to develop a computerized display corresponding to the portion of the human's body subjected to contact by the tactile array sensor, as well as any structural abnormalities in the portion caused by said cancerous type of growth.
  • the computerized display is then exhibited to show the portion of the human's body and a size and location of any structural abnormalities that may be present.
  • the computerized display is preferably a pseudo-3D display.
  • the method may also include recording the data signals in a patient file history of a memory.
  • the above steps may be repeated, and the patient file history may then be utilized to compare the structural abnormalities from the time of the first detection of the structural abnormalities with a subsequent detection.
  • the tactile array sensor is attachable to a probe, and includes two flexible surfaces, where each is made of copper or other conductive strips . The surfaces are separated by compressible material.
  • the probe need not necessarily be a mechanical probe, and in fact may be the examiner's finger.
  • the data signals carry information dealing with at least the following: a) a coordinate grid of the portion of the body subjected to contact by the tactile array sensor, b) a measurement of a size of the structural abnormalities in the portion caused by the cancerous type of growth, c) a measurement of a texture of the portion of the human's body subjected to contact by the tactile array sensor, and d) an amount of force and pressure distribution used to best determine the size of the structural abnormalities.
  • the cancerous growth that can be detected using the method and apparatus of the invention can be located in breast tissue of the human.
  • the cancerous growth is located in the prostate gland.
  • the tactile array sensor is inserted directly into the rectal area of the human being examined.
  • the examination can be performed by the human being examined, and the exhibition of the display is performed at a remote location.
  • the data signals are transferred to the remote location via a modem.
  • a camera preferably records a visual image of the tactile array sensor as it contacts the human's body.
  • the visual image is then transferred with the other data signals to the remote location via the modem.
  • a method and apparatus for instructing a trainee in breast cancer examination procedures further meet the above objects and others.
  • the method includes the step of placing a breast model having an outer surface of simulated tissue texture on a six-axis force-torque sensor, where the breast model has one or more embedded tumor-like members.
  • At least the trainee's finger or a sensor array is then placed in contact with at least a portion of an exterior surface of the breast model .
  • Data signals are then generated by having the trainee palpate the breast model with at least his or her finger, so that the data signals represent a contact location of at least the finger when in contact with the breast model.
  • the data signals also represent the force level applied by the trainee's finger.
  • the data signals are then processed to develop a computerized display corresponding to the location and size of the embedded tumor members and to the force level applied.
  • the method may further include the step of exhibiting the computerized display, to show the breast model and the size and location of the embedded tumor members.
  • the computerized display is again preferably a pseudo-3D display.
  • a video camera may be used to record the location of the trainee's finger.
  • an optimal force level and an optimal contact pattern can be determined for detecting the embedded tumor-like members.
  • the determined optimal conditions may then be stored in a memory of the computer.
  • FIG. 1 shows an exploded view of the capacitive tactile array sensor of the present invention.
  • FIG. 2 shows the tactile array sensor in a cross sectional view.
  • FIG. 3 shows the sensor in a curved configuration to approximate its shape if worn on a fingertip.
  • the outer surface of the sensor is shown palpating a finite element model of simulated tissue with an embedded tumor.
  • FIG. 4 shows a palpation-mapping probe that fits on a user's finger.
  • FIG. 5 shows a planar diagram of a model of a breast phantom, and the contact localization technique associated with the model.
  • FIG. 6 shows a diagram representing the coordination of instrumentation used for training ideal palpation techniques .
  • FIG. 7 shows a diagram representing the coordination of instrumentation used for tactile imaging of a breast cancer examination.
  • FIG. 8 shows a diagram representing the coordination of instrumentation used for tactile imaging of a breast cancer examination at a remote location relative to the place of examination.
  • FIG. 9 shows a block diagram including the steps for a BSE and the subsequent utilization of the system of the present invention and the tactile imaging data acquired thereby.
  • FIG. 10 shows a tactile and force sensor for probing the prostate to detect prostate tumors .
  • FIG. 1 shows an exploded view of the capacitive tactile array sensor 100 of the present invention.
  • FIG. 2 shows the tactile array sensor 100 in a cross sectional view.
  • a first set of copper strips 20 is disposed so that the strips are in a parallel, coplanar arrangement. When so arranged, the copper strips 20 are set approximately one half of a millimeter apart, and together form an upper surface 23 that will contact the tissue being examined. Each of the copper strips 20 is less than two millimeters wide.
  • a second set of copper strips 21 are also disposed in a parallel, coplanar arrangement, with each of the copper strips 21 being approximately one half of a millimeter apart.
  • the second set of copper strips 21 are disposed perpendicular to the first set of copper strips 20, and the planes that the first and second sets of copper strips each form are in parallel with respect to each other.
  • the second set of copper strips 21 together form a lower surface 24 that will contact the probe, finger, or other pressure applicator when in use.
  • Spacers 22 are disposed between each of the copper strips 21 in the lower surface 24.
  • the spacers 22 are made of a compressible, electrically insulative material such as silicone rubber.
  • Each of the spacers 22 has a bottom portion 25 that is disposed between the copper strips 21, and a top portion 26 that extends above the bottom portion 25 and above the copper strips 21 that form the lower surface 24.
  • the top portions 26 of the spacers 22 space the top surface 23 from the bottom surface 24 of the array sensor 100.
  • the top portions 26 of the spacers 22 are approximately 0.25 millimeters in width, and cause the top surface 23 and the bottom surface 24 of the array sensor 100 to be uniformly spaced approximately 0.13 millimeters apart. When contact between the array sensor 100 and a tissue occurs, the spacers 22 are compressed and the distance between the top surface 23 and the bottom surface 24 decreases.
  • the flexibility of the array sensor 100 described above allows for its being shaped around virtually any probe that is suitable for detection of tumors under the skin. As shown in FIG. 3, the sensor 100 can be curved to approximate its shape if worn on a fingertip. The outer surface 23 of the sensor 100 is shown palpating a finite element model of simulated tissue 27 with an embedded tumor 28. Because the sensor 100 is very flexible, it can be formed around the user's finger, as well as with the surface of the tissue 28 that the sensor 100 palpates. Accordingly, the physician, for example, wearing the array sensor 100 need not roll his or her finger to accurately determine the differing material properties due to the presence of the tumor 28 as measured by the sensor.
  • FIG. 4 shows a palpation-mapping probe 29 that fits on a user's middle finger.
  • the probe 29 is covered with a pressure sensor 100 as described above and shown in FIGs. 1 and 2.
  • the user such as a physician, will impress the sensor against a region of a tissue to detect any unusual masses. Normally, the physician will use the sensor probe on his or her fingertip and indent and roll it over a suspect region found while performing a routine CBE.
  • the system which incorporates the force sensor and a tactile array sensor mounted on the physician' s finger to make a tactile image of the suspect mass extracts four types of tactile topology features of the breast that can be sought from breast palpation, namely: 1) a geographic map of the location, i.e., a coordinate grid defining the suspect region or a larger region such as the entire breast being examined, 2) a measurement of the size of masses detected, 3) a measurement of the underlying breast texture, and 4) the force used to best demonstrate the palpable abnormality.
  • a pressure sensor to provide complete coverage of a range of breast mass sizes.
  • a commercially available Tactile 8 x 8 element array that is available from Pressure Profile Systems of Los Angeles, California may be used, for example.
  • the array sensor could be either a resistive or piezo electric array with a corresponding data acquisition function card in software substantially similar to that available from Pressure Profile Systems.
  • the array sensor 100 may be attached to a mover arm 30, shown in FIG. 7, that may be manually controlled by the physician conducting a CBE.
  • the array sensor 100 generates data that are fed from the array sensor 100 to a converter 32 when necessary.
  • the array sensor 100 may generate analog data that is fed to an ADD converter.
  • the converter 32 is associated with a computer 33, which may be associated with any PC, for example, having the requisite hard disk memory and display 31.
  • the converter 32 receives the analog signals, for example, 74 bit data, which in effect has eight levels of gray scale for each information data point and in converted by the converter 32 for transmission to its input to the computer 33.
  • the computer may be an IBM PC or other suitable workstation, programmed with the commercially availabe MetLab software program, for example.
  • the computer 33 detects the position of the array sensor 100 from the data stream, and converts the data into a pseudo 3D presentation on the monitor display 31.
  • the data may be used to produce a gray scale 3D presentation.
  • the presentation is stored in the memory 34 of the computer 33, in a patient file.
  • the filed data can then be used in subsequent examinations to compare the location and properties of a suspect breast mass with its previous properties .
  • the above system is essentially complementary to mammograms that are often used currently by physicians to further examine a patient for any abnormality uncovered during routine clinical examination of a patient.
  • the tactile display complements mammograms by generating a video presentation of the portion of the breast under examination, and further characterizes and documents the location, size, and other physical properties of any detected abnormality.
  • the computer 33 will record the pressure distribution and impression force and save it for comparison at subsequent exams.
  • documentation can be provided that shows the adequacy of a breast examination and the force applied during the examination.
  • the documentation can be used to determine the biomechanical properties of a specific patient's breast tissue, and to detect the size and nature of the suspect breast mass, as well as relatively small changes in the breast mass.
  • FIG. 8 a home examination procedure is shown in block diagram format.
  • the sensor array 100 and system as described above are used in this procedure to the extent that such are practicable.
  • the output of the converter 32 in the home examination system is sent to a modem 35 that may be any well-known and commercially available type.
  • the modem 35 is connected to a telephone line 36, thereby connecting the patient's home sensor array 100 with the physician' s office 37.
  • the data transmitted from the patient's home is recorded in computer memory 34 that functions in the same manner as described above.
  • FIG. 8 also illustrates a video camera, preferably a 3D video camera, that may be connected via the Internet to the doctor' s office to give the location of the array sensor when the patient detects the abnormality, the cause of which data is sent to the physician's office. Having received the data, the physician can review the data utilizing a PC type processor and video display, and determine whether a patient visit is advisable.
  • FIG. 9 a block diagram shows the steps for a BSE 40 and the subsequent utilization of the system of the present invention and the tactile imaging data acquired thereby.
  • the first option 44 is to visit the physician for a CBE.
  • the second option 46 is to perform a SBE utilizing tactile imaging.
  • the data generated by the tactile imaging SBE is electronically sent 50 to the physician's office.
  • the sensor location data can also be generated and recorded 48 as described above and shown in FIGs. 8 and 9.
  • the sensor location data can also be sent 50 to the physician for review.
  • the transmitted tactile image and sensor location information is processed 52 and then retained in the patient's files (in computer memory 34) .
  • the physician can then call up from memory 34 the patient's earlier data to compare the recent examination data with that previously stored in tactile image form.
  • FIG. 5 shows a planar diagram of the model 200, and the contact localization technique associated with the model 200.
  • FIG. 6 shows the instrumentation used for training ideal palpation techniques.
  • the breast biomechanical model 200 is palpated by a trainee, while a computer 32 that is connected to the model 200 and to the force-torque sensor determines the contact location and force level using the data from the six-axis force/torque sensor 31 located beneath the breast model 30.
  • a cameral may be provided to record a visual image that is combined with the tactile image to further track the location of the array sensor.
  • a video monitor 51 displays an image 34 of the breast model 30 to provide visual feedback of both coverage and the force level to the trainee. For example, a region of the breast image 34 on the monitor 51 can change color to indicate the coverage and applied force level on a corresponding portion of the breast model 30.
  • the computer 32 is preferably programmed as described above to receive and store, in a memory, accurate force levels and contact patterns used by experienced breast cancer specialists during the palpation process. These force levels and contact patterns are used to develop a reference technique for differentiating good and poor palpation. Trainees can use the real time feedback provided by the system to optimize their palpation techniques.
  • the training procedure preferably includes use of the array sensor 100 and the overall system described above in combination with FIGs. 7, 8, and 9, to improve palpation proficiency in detecting very small abnormalities embedded in the breast model 200.
  • a tactile and force sensor is provided for probing the prostate to detect prostate tumors.
  • the apparatus as shown in FIG. 10 includes a sensor array 200 that is similar to the array sensor 100 described above except that it is adapted for rectal insertion.
  • the force/torque sensor 56 is used to measure the force or torque involved in any prostate examination due to the manipulation of the mover arm/handle 57 as shown.
  • a position sensor 58 is provided to generate data representing the location of the sensor array 200.
  • the data acquisition in this system and the calibration of the same is similar as described above, although performed to generate data to estimate and document the volume and extent of detected prostate tumors .
  • the data is preferably stored for further utilization by the physician to compare the change if any, in the size and location of prostate tumors and thus facilitate documentation of the patient's history.

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Abstract

Selon l'invention, on détecte un type de croissance cancéreuse chez l'homme en plaçant un capteur à réseau tactile en contact avec une portion du corps humain, afin que ce capteur produise des signaux correspondant à des gradients de pression, les signaux de données étant traités pour produire un affichage informatisé montrant la portion du corps humain ainsi qu'une dimension et un emplacement d'une éventuelle anomalie structurelle. Lors de l'apprentissage par un stagiaire apprentissage des procédures d'examen de cancer du sein, on place un modèle de sein présentant une surface extérieure de texture tissulaire simulée, sur un capteur de force à couple mécanique et à six axes, le modèle de sein présentant un ou plusieurs éléments enfouis, du type tumeur. Des signaux de données sont produits lorsque le stagiaire palpe le modèle de sein, à l'aide d'au moins un doigt. Les signaux de données représentent un emplacement de contact du doigt et le niveau de force appliqué par ce doigt, puis ils sont ensuite traités pour produire un affichage informatisé montrant le modèle de sein et l'emplacement et la dimension des éléments tumoraux enfouis.
PCT/US1999/020448 1998-09-08 1999-09-08 Procede et systeme d'imagerie tactile destines a un examen du cancer du sein et a la detection du cancer de la prostate Ceased WO2000013591A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU60282/99A AU6028299A (en) 1998-09-08 1999-09-08 Method and system for tactile imaging for breast cancer examination and detection of prostate cancer

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US9933998P 1998-09-08 1998-09-08
US60/099,339 1998-09-08

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WO2000013591A1 true WO2000013591A1 (fr) 2000-03-16

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6669483B1 (en) * 1998-09-24 2003-12-30 West Virginia University Instrumented breast model
WO2004112609A1 (fr) * 2003-06-14 2004-12-29 University Of Dundee Ensemble detecteur tactile
WO2005051191A1 (fr) * 2003-11-24 2005-06-09 Sensors For Medicine, Inc. Systeme et procede pour mesurer les dimensions de la surface palpable de la prostate
EP1377215A4 (fr) * 2001-03-19 2006-03-08 Orthoscan Technologies Inc Systeme et procede d'etablissement de cartes d'isogrammes particulierement utiles comme systeme d'analyse du rachis, et sonde s'y rapportant
EP1379171A4 (fr) * 2001-03-28 2007-01-17 Profile Llc Imagerie en temps reel de la prostate
DE102007060453A1 (de) * 2007-12-12 2009-06-18 Lutz Berthold Body-Check Ausbildungs-, Trainings- und Prüfungssystem (BC-ATPS)
WO2009067573A3 (fr) * 2007-11-20 2009-09-03 Sensors For Medicine, Inc. Appareil et procédé de mesure des dimensions de la surface palpable de la prostate
WO2013076056A1 (fr) * 2011-11-21 2013-05-30 INSERM (Institut National de la Santé et de la Recherche Médicale) Fantôme de prostate, système permettant de planifier le traitement des foyers d'un cancer de la prostate et comprenant ce fantôme de prostate, et procédé permettant de planifier le traitement des foyers d'un cancer de la prostate et mettant en œuvre ce système
US8694079B1 (en) 2012-10-30 2014-04-08 Medicametrix, Inc. Double membrane prostate glove
US8838214B2 (en) 2012-10-30 2014-09-16 Medicametrix, Inc. Finger clip for prostate glove
US9402547B2 (en) 2012-10-30 2016-08-02 Medicametrix, Inc. Prostate glove with receiver fibers
US9402564B2 (en) 2012-10-30 2016-08-02 Medicametrix, Inc. Prostate glove with measurement grid
US9538952B2 (en) 2012-10-30 2017-01-10 Medicametrix, Inc. Controller for measuring prostate volume
WO2017089737A1 (fr) * 2015-11-24 2017-06-01 Pemberton Ford Carrie Dispositif d'aide à la formation sur le cancer
CN108158559A (zh) * 2018-02-07 2018-06-15 北京先通康桥医药科技有限公司 一种成像系统探头校准装置及其校准方法
CN111419189A (zh) * 2020-04-27 2020-07-17 浙江杜比医疗科技有限公司 一种触觉微波乳腺癌检测仪以及医疗设备
CN111419191A (zh) * 2020-04-27 2020-07-17 浙江杜比医疗科技有限公司 一种触觉超声光声乳腺癌检测仪以及医疗设备
CN115153440A (zh) * 2022-07-07 2022-10-11 东南大学附属中大医院 一种面向妇科检查的触觉感知软体机器手系统
US11638552B2 (en) 2015-12-22 2023-05-02 Medicametrix, Inc. Prostate glove, fingertip optical encoder, connector system, and related methods

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EP1377215A4 (fr) * 2001-03-19 2006-03-08 Orthoscan Technologies Inc Systeme et procede d'etablissement de cartes d'isogrammes particulierement utiles comme systeme d'analyse du rachis, et sonde s'y rapportant
EP1379171A4 (fr) * 2001-03-28 2007-01-17 Profile Llc Imagerie en temps reel de la prostate
EP2316335A1 (fr) * 2001-03-28 2011-05-04 ProUroCare Medical Inc. Imagerie mécanique en temps réel de la prostate
WO2004112609A1 (fr) * 2003-06-14 2004-12-29 University Of Dundee Ensemble detecteur tactile
WO2005051191A1 (fr) * 2003-11-24 2005-06-09 Sensors For Medicine, Inc. Systeme et procede pour mesurer les dimensions de la surface palpable de la prostate
WO2009067573A3 (fr) * 2007-11-20 2009-09-03 Sensors For Medicine, Inc. Appareil et procédé de mesure des dimensions de la surface palpable de la prostate
DE102007060453A1 (de) * 2007-12-12 2009-06-18 Lutz Berthold Body-Check Ausbildungs-, Trainings- und Prüfungssystem (BC-ATPS)
WO2013076056A1 (fr) * 2011-11-21 2013-05-30 INSERM (Institut National de la Santé et de la Recherche Médicale) Fantôme de prostate, système permettant de planifier le traitement des foyers d'un cancer de la prostate et comprenant ce fantôme de prostate, et procédé permettant de planifier le traitement des foyers d'un cancer de la prostate et mettant en œuvre ce système
US8992231B2 (en) 2011-11-21 2015-03-31 Inserm (Institut National De La Sante Et De La Recherche Medicale) Prostate phantom, system for planning a focal therapy of a prostate cancer comprising such prostate phantom and method for planning a focal therapy of a prostate cancer implementing such system
US8838214B2 (en) 2012-10-30 2014-09-16 Medicametrix, Inc. Finger clip for prostate glove
US8694079B1 (en) 2012-10-30 2014-04-08 Medicametrix, Inc. Double membrane prostate glove
US9402547B2 (en) 2012-10-30 2016-08-02 Medicametrix, Inc. Prostate glove with receiver fibers
US9402564B2 (en) 2012-10-30 2016-08-02 Medicametrix, Inc. Prostate glove with measurement grid
US9538952B2 (en) 2012-10-30 2017-01-10 Medicametrix, Inc. Controller for measuring prostate volume
WO2017089737A1 (fr) * 2015-11-24 2017-06-01 Pemberton Ford Carrie Dispositif d'aide à la formation sur le cancer
US11638552B2 (en) 2015-12-22 2023-05-02 Medicametrix, Inc. Prostate glove, fingertip optical encoder, connector system, and related methods
CN108158559A (zh) * 2018-02-07 2018-06-15 北京先通康桥医药科技有限公司 一种成像系统探头校准装置及其校准方法
CN108158559B (zh) * 2018-02-07 2023-09-12 北京先通康桥医药科技有限公司 一种成像系统探头校准装置及其校准方法
CN111419189A (zh) * 2020-04-27 2020-07-17 浙江杜比医疗科技有限公司 一种触觉微波乳腺癌检测仪以及医疗设备
CN111419191A (zh) * 2020-04-27 2020-07-17 浙江杜比医疗科技有限公司 一种触觉超声光声乳腺癌检测仪以及医疗设备
CN115153440A (zh) * 2022-07-07 2022-10-11 东南大学附属中大医院 一种面向妇科检查的触觉感知软体机器手系统

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