Simulation of autonomous robotic multiple-core biopsy by 3D ultrasound guidance.
Publication
, Journal Article
Liang, K; Rogers, AJ; Light, ED; Von Allmen, D; Smith, SW
Published in: Ultrasonic imaging
April 2010
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.
Duke Scholars
Published In
Ultrasonic imaging
DOI
EISSN
1096-0910
ISSN
0161-7346
Publication Date
April 2010
Volume
32
Issue
2
Start / End Page
118 / 127
Related Subject Headings
- Ultrasonography, Interventional
- Turkey
- Robotics
- Phantoms, Imaging
- Imaging, Three-Dimensional
- Image Processing, Computer-Assisted
- Equipment Design
- Biopsy, Needle
- Animals
- Acoustics
Citation
APA
Chicago
ICMJE
MLA
NLM
Liang, K., Rogers, A. J., Light, E. D., Von Allmen, D., & Smith, S. W. (2010). Simulation of autonomous robotic multiple-core biopsy by 3D ultrasound guidance. Ultrasonic Imaging, 32(2), 118–127. https://doi.org/10.1177/016173461003200205
Liang, Kaicheng, Albert J. Rogers, Edward D. Light, Daniel Von Allmen, and Stephen W. Smith. “Simulation of autonomous robotic multiple-core biopsy by 3D ultrasound guidance.” Ultrasonic Imaging 32, no. 2 (April 2010): 118–27. https://doi.org/10.1177/016173461003200205.
Liang K, Rogers AJ, Light ED, Von Allmen D, Smith SW. Simulation of autonomous robotic multiple-core biopsy by 3D ultrasound guidance. Ultrasonic imaging. 2010 Apr;32(2):118–27.
Liang, Kaicheng, et al. “Simulation of autonomous robotic multiple-core biopsy by 3D ultrasound guidance.” Ultrasonic Imaging, vol. 32, no. 2, Apr. 2010, pp. 118–27. Epmc, doi:10.1177/016173461003200205.
Liang K, Rogers AJ, Light ED, Von Allmen D, Smith SW. Simulation of autonomous robotic multiple-core biopsy by 3D ultrasound guidance. Ultrasonic imaging. 2010 Apr;32(2):118–127.
Published In
Ultrasonic imaging
DOI
EISSN
1096-0910
ISSN
0161-7346
Publication Date
April 2010
Volume
32
Issue
2
Start / End Page
118 / 127
Related Subject Headings
- Ultrasonography, Interventional
- Turkey
- Robotics
- Phantoms, Imaging
- Imaging, Three-Dimensional
- Image Processing, Computer-Assisted
- Equipment Design
- Biopsy, Needle
- Animals
- Acoustics