Simulation of autonomous robotic multiple-core biopsy by 3D ultrasound guidance.

Journal Article (Journal Article)

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.

Full Text

Duke Authors

Cited Authors

  • Liang, K; Rogers, AJ; Light, ED; Von Allmen, D; Smith, SW

Published Date

  • April 2010

Published In

Volume / Issue

  • 32 / 2

Start / End Page

  • 118 - 127

PubMed ID

  • 20687279

Pubmed Central ID

  • PMC3018680

Electronic International Standard Serial Number (EISSN)

  • 1096-0910

International Standard Serial Number (ISSN)

  • 0161-7346

Digital Object Identifier (DOI)

  • 10.1177/016173461003200205


  • eng