Clinical prototype of autonomous breast biopsy robot guided by 4Dultrasound

Journal Article

Our laboratory previously conducted feasibility studies of autonomousrobotic breast biopsy guided by 4D ultrasound. Using a complete 3D image volume,processed by elementary thresholding algorithms with no human intervention, therobot was able to successfully target bright voxels representingmicro-calcifications and dark regions representing cysts in turkey breasttissue. We now describe a clinical prototype of a computer-controlled single armrobot guided by 4D ultrasound which can autonomously locate a breast lesion andthen fire a spring-loaded biopsy needle into the lesion. RMS error in a watertank experiment locating a bright point target was 2.82 mm. © 2010 IEEE.

Full Text

Duke Authors

Cited Authors

  • Liang, K; Light, ED; Baker, JA; Lachmann, F; Collins, J; Smith, SW

Published Date

  • December 1, 2010

Published In

Start / End Page

  • 2348 - 2351

International Standard Serial Number (ISSN)

  • 1051-0117

Digital Object Identifier (DOI)

  • 10.1109/ULTSYM.2010.5935778

Citation Source

  • Scopus