title: Three-dimensional ultrasound guidance of autonomous robotic breast biopsy: feasibility study.
abstract: Feasibility studies of autonomous robot biopsies in tissue have been conducted using real-time three-dimensional (3-D) ultrasound combined with simple thresholding algorithms. The robot first autonomously processed 3-D image volumes received from the ultrasound scanner to locate a metal rod target embedded in turkey breast tissue simulating a calcification, and in a separate experiment, the center of a water-filled void in the breast tissue simulating a cyst. In both experiments the robot then directed a needle to the desired target, with no user input required. Separate needle-touch experiments performed by the image-guided robot in a water tank yielded an rms error of 1.15 mm. (E-mail: kaicheng.liang@duke.edu).
authors.affiliation: Department of Biomedical Engineering, Duke University, Durham, NC, USA. kaicheng.liang@duke.edu
authors.forename: Kaicheng
authors.initials: K
authors.lastname: Liang
authors.forename: Albert J
authors.initials: AJ
authors.lastname: Rogers
authors.forename: Edward D
authors.initials: ED
authors.lastname: Light
authors.forename: Daniel
authors.initials: D
authors.lastname: von Allmen
authors.forename: Stephen W
authors.initials: SW
authors.lastname: Smith
mesh_terms: D000465:Algorithms; D000818:Animals; D001707:Biopsy, Needle / Q000379:methods*; D001940:Breast / Q000473:pathology*; D005240:Feasibility Studies; D005260:Female; D007091:Image Processing, Computer-Assisted; D021621:Imaging, Three-Dimensional / Q000295:instrumentation / Q000379:methods*; D008954:Models, Biological; D019047:Phantoms, Imaging; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D014422:Turkeys; D018084:Ultrasonography, Interventional / Q000379:methods*