A path generation algorithm for biopsy needle insertion in a robotic breast biopsy navigation system

Tanaiutchawoot, Narucha; Treepong, Bantita; Wiratkapan, Cholatip; Suthakorn, Jackrit

doi:10.1109/robio.2014.7090363

Cited by 6 publications

(5 citation statements)

References 15 publications

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“…The system is used for three-dimensional ultrasound image acquisition and needle biopsy of breast tissue. Tanaiutchawoot et al 84–86 developed a breast biopsy navigation system that includes an optical tracking system and a passive robotic needle holder. And they developed its path generation algorithm and graphical user interface.…”

Section: Introduction To Ultrasound-guided Breast Intervention Robotmentioning

confidence: 99%

Breast intervention surgery robot under image navigation: A review

Zhang

et al. 2021

Advances in Mechanical Engineering

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In recent years, breast cancer incidence has increased year by year, which makes research on treatment methods critical. Intervention surgery is a new development in breast cancer treatment. However, the operation is complicated and lasts for a long time. The doctor’s operation can no longer meet clinical needs. The breast intervention robot has the characteristics of minimal invasiveness, operability, and high flexibility so that it can compensate for the shortcomings of traditional interventional surgery. The combination of the robotic system and medical imaging technology is an important means to determine the lesion location and plan the puncture path. This article mainly reviews the breast intervention robot under image navigation. Based on existing literature, image navigation methods are divided into MRI, ultrasound, and CT for the introduction. First, we summarized the principles and technologies associated with materials, sensors, and actuators used in the MRI-guided breast intervention robot. In particular, the actuation is analyzed and compared in detail. Subsequently, the ultrasound-guided and CT-guided breast intervention robots are introduced. After that, we discuss the image-guided positioning technology. Finally, we summarize the research progress and trends in the future development of breast intervention robots under image navigation.

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Section: Introduction To Ultrasound-guided Breast Intervention Robotmentioning

confidence: 99%

Breast intervention surgery robot under image navigation: A review

Zhang

et al. 2021

Advances in Mechanical Engineering

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“…This can be performed by registering preoperative images with the robot and the patient. Several studies utilized optical tracking to relate preoperative images to the robot [7][8][9][10]. Nelson et al [11] used a laser scanner to register a preoperative 3D US acquisition to the current position of the breast.…”

Section: Introductionmentioning

confidence: 99%

Design of an end-effector for robot-assisted ultrasound-guided breast biopsies

et al. 2020

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Purpose The biopsy procedure is an important phase in breast cancer diagnosis. Accurate breast imaging and precise needle placement are crucial in lesion targeting. This paper presents an end-effector (EE) for robotic 3D ultrasound (US) breast acquisitions and US-guided breast biopsies. The EE mechanically guides the needle to a specified target within the US plane. The needle is controlled in all degrees of freedom (DOFs) except for the direction of insertion, which is controlled by the radiologist. It determines the correct needle depth and stops the needle accordingly. Method In the envisioned procedure, a robotic arm performs localization of the breast, 3D US volume acquisition and reconstruction, target identification and needle guidance. Therefore, the EE is equipped with a stereo camera setup, a picobeamer, US probe holder, a three-DOF needle guide and a needle stop. The design was realized by prototyping techniques. Experiments were performed to determine needle placement accuracy in-air. The EE was placed on a seven-DOF robotic manipulator to determine the biopsy accuracy on a cuboid phantom. Results Needle placement accuracy was 0.3 ± 1.5 mm in and 0.1 ± 0.36 mm out of the US plane. Needle depth was regulated with an accuracy of 100 µm (maximum error 0.89 mm). The maximum holding force of the stop was approximately 6 N. The system reached a Euclidean distance error of 3.21 mm between the needle tip and the target and a normal distance of 3.03 mm between the needle trajectory and the target. Conclusion An all in one solution was presented which, attached to a robotic arm, assists the radiologist in breast cancer imaging and biopsy. It has a high needle placement accuracy, yet the radiologist is in control like in the conventional procedure.

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“…However, for smaller size DC motors (10-100W), manufacturers' given values for commercially available motors may not always be accurate. For precise control applications, the accuracy of the motor parameters is very important [11]- [13]. Manufacturers do not normally supply friction related parameters.The varying parametric value of DC motors can also be attributed to the load connected with the motor [14].…”

Section: Introductionmentioning

confidence: 99%

Motion control applications: observer based DC motor parameters estimation for novices

Pillai

Suthakorn

2019

IJPEDS

Self Cite

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<span>Estimation of motor inertia and friction components is a complex and challenging task in motion control applications where small size DC motors (<100W) are used for precise control. It is essential to estimate the accurate friction components and motor inertia, because the parameters provided by the manufacturer are not always accurate. This research proposes a Sensorless method of determining DC motor parameters, including moment of inertia, torque coefficient and frictional components using the Disturbance Observer (DOB) as a torque sensor. The constant velocity motion test and a novel Reverse Motion Acceleration test were conducted to estimate frictional components and moment of inertia of the motor. The validity of the proposed novel method was verified by experimental results and compared with conventional acceleration and deceleration motion tests. Experiments have been carried out to show the effectiveness and viability of the estimated parameters using a Reaction Torque Observer (RTOB) based friction compensation method.</span>

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A path generation algorithm for biopsy needle insertion in a robotic breast biopsy navigation system

Cited by 6 publications

References 15 publications

Breast intervention surgery robot under image navigation: A review

Breast intervention surgery robot under image navigation: A review

Design of an end-effector for robot-assisted ultrasound-guided breast biopsies

Motion control applications: observer based DC motor parameters estimation for novices

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