On the design and development of a breast biopsy navigation system: Path generation algorithm and system with its GUI evaluation

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

doi:10.1109/bhi.2014.6864356

Cited by 9 publications

(4 citation statements)

References 6 publications

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“…We attributed the relatively large errors to the elastic deformation of the biopsy needle during insertion. Nonetheless, the achieved accuracy is good enough for the target applications and is better than the results achieved by most of the state-of-the-art methods [ 2 , 3 , 8 , 13 , 29 ].…”

Section: Resultsmentioning

confidence: 85%

“…Additionally, we also compared our method with other SOTA biopsy methods, including the method introduced by Tanaiutchawoot et al [ 30 ], the method introduced by Treepong et al [ 29 ], and the method introduced by Chevrie et al [ 31 ]. Table 7 shows the comparison results, where the exact type of phantom, the achieved accuracy and the biopsy successful rate of each method are presented.…”

Section: Resultsmentioning

confidence: 99%

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Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy

Liu

Sun

Zhao

et al. 2022

Sensors

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In robot-assisted ultrasound-guided needle biopsy, it is essential to conduct calibration of the ultrasound probe and to perform hand–eye calibration of the robot in order to establish a link between intra-operatively acquired ultrasound images and robot-assisted needle insertion. Based on a high-precision optical tracking system, novel methods for ultrasound probe and robot hand–eye calibration are proposed. Specifically, we first fix optically trackable markers to the ultrasound probe and to the robot, respectively. We then design a five-wire phantom to calibrate the ultrasound probe. Finally, an effective method taking advantage of steady movement of the robot but without an additional calibration frame or the need to solve the AX=XB equation is proposed for hand–eye calibration. After calibrations, our system allows for in situ definition of target lesions and aiming trajectories from intra-operatively acquired ultrasound images in order to align the robot for precise needle biopsy. Comprehensive experiments were conducted to evaluate accuracy of different components of our system as well as the overall system accuracy. Experiment results demonstrated the efficacy of the proposed methods.

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Section: Resultsmentioning

confidence: 85%

Section: Resultsmentioning

confidence: 99%

Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy

Liu

Sun

Zhao

et al. 2022

Sensors

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“…In addition to commercial systems, there is also important research on navigation. For the particular problem of breast cancer, there are works that have proposed navigation solutions for breast biopsy Treepong et al (2014) , and for sonography-guided breast surgery Ungi et al (2016) . In this project, we propose matching the input anatomy to intraoperative tracking data and use soft-tissue simulation methods to estimate the deformation.…”

Section: Introductionmentioning

confidence: 99%

Soft-tissue simulation of the breast for intraoperative navigation and fusion of preoperative planning

Alcañiz

Catarina

Gutiérrez

et al. 2022

Front. Bioeng. Biotechnol.

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Computational preoperative planning offers the opportunity to reduce surgery time and patient risk. However, on soft tissues such as the breast, deviations between the preoperative and intraoperative settings largely limit the applicability of preoperative planning. In this work, we propose a high-performance accurate simulation model of the breast, to fuse preoperative information with the intraoperative deformation setting. Our simulation method encompasses three major elements: high-quality finite-element modeling (FEM), efficient handling of anatomical couplings for high-performance computation, and personalized parameter estimation from surface scans. We show the applicability of our method on two problems: 1) transforming high-quality preoperative scans to the intraoperative setting for fusion of preoperative planning data, and 2) real-time tracking of breast tumors for navigation during intraoperative radiotherapy. We have validated our methodology on a test cohort of nine patients who underwent tumor resection surgery and intraoperative radiotherapy, and we have quantitatively compared simulation results to intraoperative scans. The accuracy of our simulation results suggest clinical viability of the proposed methodology.

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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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On the design and development of a breast biopsy navigation system: Path generation algorithm and system with its GUI evaluation

Cited by 9 publications

References 6 publications

Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy

Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy

Soft-tissue simulation of the breast for intraoperative navigation and fusion of preoperative planning

Breast intervention surgery robot under image navigation: A review

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