Positional Calibration of an Ultrasound Image-Guided Robotic Breast Biopsy System

Nelson, Thomas R.; Tran, A.; Fakourfar, Hourieh; Nebeker, Jakob

doi:10.7863/jum.2012.31.3.351

Cited by 17 publications

(13 citation statements)

References 14 publications

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“…As a result, a completely automated, dedicated breast volume US scanner featuring a compact robotic design was refined, so it could be precisely positioned to test a mass within ±1 mm of the breast volume. In addition, the overall precision and reproducibility of the compact robotic device were attractive and well within the breast biopsy requirements (Nelson et al, 2012). Vrooijink, Abayazid, and Misra (2013) executed a research study, that demonstrated the real-time 3D tracking of flexible needles following insertion into a soft-tissue simulator using a 2D US probe.…”

Section: Achievements In Rus-guided Breast Biopsy Systemsmentioning

confidence: 94%

“…A positional calibration of a US image-guided robotic breast biopsy system was managed by Nelson et al (2012). The authors arranged a volume breast biopsy system that contained a biopsy table, a biopsy device, a robotic arm (F3 robot; CRS Robotics Corporation, Burlington, ON, Canada), a robot controller, and a doctortargeting and guidance console (Fig.…”

Section: Achievements In Rus-guided Breast Biopsy Systemsmentioning

confidence: 99%

“…A round opening provides space for the pendant breast. Right, appearance from beneath the table, which presents a breast exam object and the biopsy system attached to the robotic arm (Nelson et al, 2012). Fig.…”

Section: Achievements In Rus-guided Breast Biopsy Systemsmentioning

confidence: 99%

“…As a result, handheld diagnostic methods do not always yield ideal results. Thus, the early discovery of breast malignancies requires more accurate and precise instruments (Nelson, Tran, Fakourfar, & Nebeker, 2012). Despite the numerous advantages of needle biopsy, US-guided biopsy techniques are highly dependent on a doctor's expertise.…”

Section: Introductionmentioning

confidence: 99%

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Evolution of Robot-assisted ultrasound-guided breast biopsy systems

Mahmoud

Aslam

Alsaadi

et al. 2018

Journal of Radiation Research and Applied Sciences

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Robot-assisted ultrasound-guided breast biopsy combines ultrasound (US) imaging with a robotic system for medical interventions. This study was designed to provide a literature review of a robotic US-guided breast biopsy system to delineate its efficacious impact on current medical practice. In addition, the strengths and limitations of this approach were also addressed. Articles published in the English language between 2000 and 2016 were appraised in this review. A wide range of systems that bind robotics with US imaging and guided breast biopsy were examined in this article. The fundamental safety and real-time imaging capabilities of US, together with the accuracy and maneuverability of robotic devices, is clearly an effective association with unmatched capabilities. Numerous experimental systems have obvious benefits over old-fashioned techniques, and the future of robot-assisted US-guided breast biopsy will be characterized by increasing levels of automation, and they hold tremendous possibility to impact doctor achievement, patient recovery, and clinical management.

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Section: Achievements In Rus-guided Breast Biopsy Systemsmentioning

confidence: 94%

Section: Achievements In Rus-guided Breast Biopsy Systemsmentioning

confidence: 99%

Section: Achievements In Rus-guided Breast Biopsy Systemsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Evolution of Robot-assisted ultrasound-guided breast biopsy systems

Mahmoud

Aslam

Alsaadi

et al. 2018

Journal of Radiation Research and Applied Sciences

View full text Add to dashboard Cite

show abstract

“…The Hippocrate system employs a PA-10 robot arm from Mitsubishi Heavy Industry to scan the carotid artery [4]. An F3 industrial robot from CRS Robotics was used in [5] to diagnose breast cancer. A lightweight robot LWR from KUKA was used in [6] to assist the sonographer.…”

Section: Introductionmentioning

confidence: 99%

Metrological Evaluation of a Novel Medical Robot and Its Kinematic Calibration

Zhao

Joubair

Bigras

et al. 2015

International Journal of Advanced Robotic Systems

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The vessels are twisted in a longitudinal 3D space in the lower limbs of humans. Thus, it is difficult to perform an ultrasound scanning examination in this area. In this paper, a new medical parallel robot is introduced to effectively diagnose vessel disease in the lower limbs. The robot's position repeatability and accuracy are evaluated. Furthermore, the robot's accuracy is improved through a calibration process in which the kinematic parameters are identified through a simple identification approach.

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

et al. 2020

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Purpose The biopsy procedure is an important phase in breast cancer diagnosis. Accurate breast imaging and precise needle placement are crucial in lesion targeting. This paper presents an end-effector (EE) for robotic 3D ultrasound (US) breast acquisitions and US-guided breast biopsies. The EE mechanically guides the needle to a specified target within the US plane. The needle is controlled in all degrees of freedom (DOFs) except for the direction of insertion, which is controlled by the radiologist. It determines the correct needle depth and stops the needle accordingly. Method In the envisioned procedure, a robotic arm performs localization of the breast, 3D US volume acquisition and reconstruction, target identification and needle guidance. Therefore, the EE is equipped with a stereo camera setup, a picobeamer, US probe holder, a three-DOF needle guide and a needle stop. The design was realized by prototyping techniques. Experiments were performed to determine needle placement accuracy in-air. The EE was placed on a seven-DOF robotic manipulator to determine the biopsy accuracy on a cuboid phantom. Results Needle placement accuracy was 0.3 ± 1.5 mm in and 0.1 ± 0.36 mm out of the US plane. Needle depth was regulated with an accuracy of 100 µm (maximum error 0.89 mm). The maximum holding force of the stop was approximately 6 N. The system reached a Euclidean distance error of 3.21 mm between the needle tip and the target and a normal distance of 3.03 mm between the needle trajectory and the target. Conclusion An all in one solution was presented which, attached to a robotic arm, assists the radiologist in breast cancer imaging and biopsy. It has a high needle placement accuracy, yet the radiologist is in control like in the conventional procedure.

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Positional Calibration of an Ultrasound Image-Guided Robotic Breast Biopsy System

Cited by 17 publications

References 14 publications

Evolution of Robot-assisted ultrasound-guided breast biopsy systems

Evolution of Robot-assisted ultrasound-guided breast biopsy systems

Metrological Evaluation of a Novel Medical Robot and Its Kinematic Calibration

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

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