Towards the Development of a Master-Slave Surgical System for Breast Biopsy under Continuous MRI

Yang, Bo; Tan, U-Xuan; McMillan, A.; Gullapalli, Rao P.; Desai, Jaydev P.

doi:10.1007/978-3-319-00065-7_38

Cited by 5 publications

(4 citation statements)

References 18 publications

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“…Yang et al 36,100 developed an MRI compatible master-slave surgical system. The system identifies the target point and the insertion point through continuous MRI and establishes a feasible trajectory to guide the puncture needle to the target point accurately.…”

Section: Image Guided Positioning Technologymentioning

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: Image Guided Positioning Technologymentioning

confidence: 99%

Breast intervention surgery robot under image navigation: A review

Zhang

et al. 2021

Advances in Mechanical Engineering

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“…The targeting errors due to initial alignment of the needle with the target can be reduced with robotic assistance [1–3]. However, most of the targeting errors occur due to needle deflection when the needle is inside the soft-tissue.…”

Section: Introductionmentioning

confidence: 99%

Optical Flow-Based Tracking of Needles and Needle-Tip Localization Using Circular Hough Transform in Ultrasound Images

Ayvali

Desai

2014

Ann Biomed Eng

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Image-guided interventions have become the standard of care for needle-based procedures. The success of the image-guided procedures depends on the ability to precisely locate and track the needle. This work is primarily focused on 2D ultrasound-based tracking of a hollow needle (cannula) that is composed of straight segments connected by shape memory alloy actuators. An in-plane tracking algorithm based on optical flow was proposed to track the cannula configuration in real-time. Optical flow is a robust tracking algorithm that can easily run on a CPU. However, the algorithm does not perform well when it is applied to the ultrasound images directly due to the intensity variation in the images. The method presented in this work enables using the optical flow algorithm on ultrasound images to track features of the needle. By taking advantage of the bevel tip, Circular Hough transform was used to accurately locate the needle tip when the imaging is out-of-plane. Through experiments inside tissue phantom and ex-vivo experiments in bovine kidney, the success of the proposed tracking methods were demonstrated. Using the methods presented in this work, quantitative information about the needle configuration is obtained in real-time which is crucial for generating control inputs for the needle and automating the needle insertion.

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“…Based on our initial preliminary work (Yang et al, 2011b(Yang et al, , 2012, this paper presents the complete master-slave surgical system, with a 6-DOF MRI-compatible slave robot that can be operated under continuous MRI guidance, as well as extensive ex vivo and preliminary in vivo experimental results. The paper is organized as follows: in Section 2, the latest design of the slave robot is presented, and the mechanism design of the master robot is covered in Section 3.…”

Section: Introductionmentioning

confidence: 99%

Design, development, and evaluation of a master–slave surgical system for breast biopsy under continuous MRI

Yang

Roys

Tan

et al. 2013

The International Journal of Robotics Research

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Magnetic Resonance Imaging (MRI) provides superior soft-tissue contrast in cancer diagnosis compared to other imaging modalities. However, the strong magnetic field inside the MRI bore along with limited scanner bore size poses significant challenges. Since current approaches in breast biopsy using MR images is primarily a blind targeting approach, it is necessary to develop a MRI-compatible robot that can avoid multiple needle insertions into the breast tissue. This MRI-compatible robotic system could potentially lead to improvement in the targeting accuracy and reduce sampling errors. A master-slave surgical system has been developed comprising of a MRI-compatible slave robot which consists of one piezo motor and five pneumatic cylinders connected by long pneumatic transmission lines. The slave robot follows the configuration of the master robot, which provides an intuitive manipulation interface for the physician and operates inside the MRI bore to adjust the needle position and orientation and perform needle insertion task. Based on the MRI experiments using the slave robot, there was no significant distortion in the images and hence the slave robot can be safely operated inside the MRI with minimal loss in signal-to-noise ratio (SNR). Ex vivo and in vivo experiments have been conducted to evaluate the performance of the master-slave surgical system.

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Towards the Development of a Master-Slave Surgical System for Breast Biopsy under Continuous MRI

Cited by 5 publications

References 18 publications

Breast intervention surgery robot under image navigation: A review

Breast intervention surgery robot under image navigation: A review

Optical Flow-Based Tracking of Needles and Needle-Tip Localization Using Circular Hough Transform in Ultrasound Images

Design, development, and evaluation of a master–slave surgical system for breast biopsy under continuous MRI

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