Title :
Clinical prototype of autonomous breast biopsy robot guided by 4D ultrasound
Author :
Liang, Kaicheng ; Light, Edward D. ; Baker, Jay A. ; Lachmann, Frederic ; Collins, Jeff ; Smith, Stephen W.
Author_Institution :
Dept. of Biomed. Eng., Duke Univ., Durham, NC, USA
Abstract :
Our laboratory previously conducted feasibility studies of autonomous robotic breast biopsy guided by 4D ultrasound. Using a complete 3D image volume, processed by elementary thresholding algorithms with no human intervention, the robot was able to successfully target bright voxels representing micro-calcifications and dark regions representing cysts in turkey breast tissue. We now describe a clinical prototype of a computer-controlled single arm robot guided by 4D ultrasound which can autonomously locate a breast lesion and then fire a spring-loaded biopsy needle into the lesion. RMS error in a water tank experiment locating a bright point target was 2.82 mm.
Keywords :
biological tissues; biomedical ultrasonics; medical robotics; prototypes; 3D image volume; 4D ultrasound guiding; autonomous breast biopsy robot; clinical prototype; cysts; elementary thresholding algorithm; microcalcification; turkey breast tissue; Biopsy; Breast; Lesions; Needles; Robots; Three dimensional displays; Ultrasonic imaging; 4D ultrasound; breast biopsy; surgical robotics;
Conference_Titel :
Ultrasonics Symposium (IUS), 2010 IEEE
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4577-0382-9
DOI :
10.1109/ULTSYM.2010.5935778
