Experimental Study on Needle Insertion Force for Breast

This paper experimentally deals with the measurement of the needle insertion force for breast. The experimental subjects were breast phantom, cow’s breast tissue, and human breast tissue. The needle insertion and force measurement device was used prototype biopsy robot that it was developed by National Cancer Center in Korea. The needle insertion force was measured and compared with various subjects and needle insertion speeds. As a result, the relationship between the needle insertion force and the needle insertion speed for various subjects was identified.