Clinical prototype of autonomous breast biopsy robot guided by 4Dultrasound
Publication
, Journal Article
Liang, K; Light, ED; Baker, JA; Lachmann, F; Collins, J; Smith, SW
Published in: Proceedings IEEE Ultrasonics Symposium
December 1, 2010
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.
Duke Scholars
Published In
Proceedings IEEE Ultrasonics Symposium
DOI
ISSN
1051-0117
Publication Date
December 1, 2010
Start / End Page
2348 / 2351
Citation
APA
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MLA
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Liang, K., Light, E. D., Baker, J. A., Lachmann, F., Collins, J., & Smith, S. W. (2010). Clinical prototype of autonomous breast biopsy robot guided by 4Dultrasound. Proceedings IEEE Ultrasonics Symposium, 2348–2351. https://doi.org/10.1109/ULTSYM.2010.5935778
Liang, K., E. D. Light, J. A. Baker, F. Lachmann, J. Collins, and S. W. Smith. “Clinical prototype of autonomous breast biopsy robot guided by 4Dultrasound.” Proceedings IEEE Ultrasonics Symposium, December 1, 2010, 2348–51. https://doi.org/10.1109/ULTSYM.2010.5935778.
Liang K, Light ED, Baker JA, Lachmann F, Collins J, Smith SW. Clinical prototype of autonomous breast biopsy robot guided by 4Dultrasound. Proceedings IEEE Ultrasonics Symposium. 2010 Dec 1;2348–51.
Liang, K., et al. “Clinical prototype of autonomous breast biopsy robot guided by 4Dultrasound.” Proceedings IEEE Ultrasonics Symposium, Dec. 2010, pp. 2348–51. Scopus, doi:10.1109/ULTSYM.2010.5935778.
Liang K, Light ED, Baker JA, Lachmann F, Collins J, Smith SW. Clinical prototype of autonomous breast biopsy robot guided by 4Dultrasound. Proceedings IEEE Ultrasonics Symposium. 2010 Dec 1;2348–2351.
Published In
Proceedings IEEE Ultrasonics Symposium
DOI
ISSN
1051-0117
Publication Date
December 1, 2010
Start / End Page
2348 / 2351