Simulation of autonomous robotic multiple-core biopsy by 3D ultrasound guidance.
An autonomous multiple-core biopsy system guided by real-time 3D ultrasound and operated by a robotic arm with 6+1 degrees of freedom has been developed. Using a specimen of turkey breast as a tissue phantom, our system was able to first autonomously locate the phantom in the image volume and then perform needle sticks in each of eight sectors in the phantom in a single session, with no human intervention required. Based on the fraction of eight sectors successfully sampled in an experiment of five trials, a success rate of 93% was recorded. This system could have relevance in clinical procedures that involve multiple needle-core sampling such as prostate or breast biopsy.
Liang
Kaicheng
K
Department of Biomedical Engineering, Duke University, Durham, NC 27708, USA. kaicheng.liang@duke.edu
Rogers
Albert J
AJ
Light
Edward D
ED
Von Allmen
Daniel
D
Smith
Stephen W
SW
D000818:Animals; D001707:Biopsy, Needle / Q000379:methods*; D004867:Equipment Design; D007091:Image Processing, Computer-Assisted; D021621:Imaging, Three-Dimensional; D019047:Phantoms, Imaging; D012371:Robotics; D014421:Turkey; D018084:Ultrasonography, Interventional