Three-dimensional ultrasound guidance of autonomous robotic breast biopsy: feasibility study.

Journal Article (Journal Article)

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:

Full Text

Duke Authors

Cited Authors

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

Published Date

  • January 2010

Published In

Volume / Issue

  • 36 / 1

Start / End Page

  • 173 - 177

PubMed ID

  • 19900753

Pubmed Central ID

  • PMC2800959

Electronic International Standard Serial Number (EISSN)

  • 1879-291X

International Standard Serial Number (ISSN)

  • 0301-5629

Digital Object Identifier (DOI)

  • 10.1016/j.ultrasmedbio.2009.08.014


  • eng