Breast biopsy navigation system with an assisted needle holder tool and 2D graphical user interface

Abstract

ObjectiveThis paper proposes the development of a breast biopsy navigation system with an assisted needle holder tool for a coaxial needle and a graphical user interface, which utilizes an optical tracking device to localize the needle position relative to the ultrasound image with the aim to improve performance especially for a new radiologist or an inexperienced group.Materials and methodsThe system consists of an assisted needle holder tool, which as an attachment for the 2D ultrasound transducer and the graphical user interface (GUI) that shows the needle pathway, needle line and warning signs. An optical tracking system is used to track the needle motion, ultrasound image and transform all information to with respect to the technique. The system is evaluated using a phantom made from gel candle. There were nine experienced and eight inexperienced participants who performed the breast biopsy intervention, using three methods: the freehand method, only the needle holder tool guidance, and the whole navigation guidance (GUI + assisted needle holder).ResultsThe results demonstrate a success rate of over 90% using only assisted needle holder and the whole system to perform breast biopsy for the experienced and inexperienced groups, whereas for the inexperienced group a success rate of 57.5% was achieved using the freehand method. The use of only assisted needle holder for breast biopsy reduces the time for a procedure in the inexperienced group by 6 s when compared to the freehand method.ConclusionThe authors believe that this navigation system can be applied in a clinical setting and give an advantage to inexperienced radiologists who must successfully perform clinical breast biopsy.

Computer-Assisted Instrument Guidance to Improve Adductor Canal Block Performance for Total Knee Arthroplasty: A Pilot Randomized Controlled Trial

“…Computer-assisted instrument guidance (CAIG) has been demonstrated to facilitate faster breast biopsy [ 6 ], and has been shown to improve accuracy, needle redirections, and goal performance metrics during needle placement training in gel models by resident physicians [ 7 ]. We hypothesized that peripheral nerve block success and patient experience (i.e., time and ease to complete the regional block) can be improved using CAIG.…”

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

“…Several studies utilized real-time US guidance as well. The position of the US probe with respect to the needle can be tracked optically, calculated based on joint sensors of the robot(s) holding the probe and/or the needle, or measured if the position of the US probe is static with respect to the needle base frame [7,[12][13][14][15].…”

“…Mallapragada et al [16,17] presented a needle which had a fixed insertion orientation relative to the probe, but manipulated the tissue. Other studies presented setups in which the needle/needle guide has some degrees of freedom in the image plane of the US probe [13,15,[18][19][20][21]. In some cases, the needle had DOFs out of the US plane as well or the US probe had degrees of freedom also [22][23][24].…”

Real-Time Path Planning for Needle Insertion With Multiple Targets

“…In this case, the planner puts aside the inaccessible target and continues the process with the remaining targets. To address the issue of workspace size in different applications, according to [90][91][92], for liver biopsy and [83] for breast biopsy, we picked two different sizes of workspaces in the simulations, namely, a small and a large workspace with dimensions of 5 × 7.5 cm 2 and 10 × 15 cm 2 , respectively. Fig.…”

“…A key point in steerable needle trajectory planning is its clinical relevance and practicality through a proper choice of system parameters [83]. It is known that needle trajectory during its motion in biological tissue is affected by its natural curvature [14] and using the DC method [58] [13], [76], [80], [84] and 5 cm [67], [85].…”