Chengwang Song1, Zhiyong Yang1, Shan Jiang2, Zeyang Zhou1, Daguang Zhang3. 1. Centre for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Jinnan District, Tianjin, 300350, China. 2. Centre for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Jinnan District, Tianjin, 300350, China. shanjmri@tju.edu.cn. 3. Department of Radiation Oncology, Tianjin Medical University Cancer Institute and Hospital, Tianjin, 300060, China.
Abstract
PURPOSE: Breast cancer is currently the cancer type with the highest incidence in the world, and it is extremely harmful to women's health. MRI-guided breast biopsy is a common method in clinical examination of breast cancer. However, traditional breast biopsy is less accurate and takes a long time. In this study, an integrated navigation system (INS) based on a dedicated breast support device (DBSD) was proposed to assist doctors in biopsy. METHODS: The grid-shaped DBSD can reduce the displacement and deformation of the breast during the biopsy operation and is convenient for puncture. The robot system based on the DBSD is designed to assist doctors in performing puncture action. The software system has functions such as registration, path planning, and real-time tracking of biopsy needles based on the DBSD, which can assist doctors in completing the entire biopsy procedure. A series of experiments are designed to verify the feasibility and accuracy of the system. RESULTS: Experiments prove that the robot system has reasonable structure and meets the requirements of MR compatibility. The latency of the INS during intraoperative navigation is 0.30 ± 0.03 s. In the phantom puncture experiment, the puncture error under the navigation of the INS is 1.04 ± 0.15 mm. CONCLUSION: The INS proposed in this paper can be applied to assist doctors in breast biopsy in MR environment, improve the accuracy of biopsy and shorten the time of biopsy. The experimental results show that the system is feasible and accurate.
PURPOSE: Breast cancer is currently the cancer type with the highest incidence in the world, and it is extremely harmful to women's health. MRI-guided breast biopsy is a common method in clinical examination of breast cancer. However, traditional breast biopsy is less accurate and takes a long time. In this study, an integrated navigation system (INS) based on a dedicated breast support device (DBSD) was proposed to assist doctors in biopsy. METHODS: The grid-shaped DBSD can reduce the displacement and deformation of the breast during the biopsy operation and is convenient for puncture. The robot system based on the DBSD is designed to assist doctors in performing puncture action. The software system has functions such as registration, path planning, and real-time tracking of biopsy needles based on the DBSD, which can assist doctors in completing the entire biopsy procedure. A series of experiments are designed to verify the feasibility and accuracy of the system. RESULTS: Experiments prove that the robot system has reasonable structure and meets the requirements of MR compatibility. The latency of the INS during intraoperative navigation is 0.30 ± 0.03 s. In the phantom puncture experiment, the puncture error under the navigation of the INS is 1.04 ± 0.15 mm. CONCLUSION: The INS proposed in this paper can be applied to assist doctors in breast biopsy in MR environment, improve the accuracy of biopsy and shorten the time of biopsy. The experimental results show that the system is feasible and accurate.
Authors: Ophira Ginsburg; Cheng-Har Yip; Ari Brooks; Anna Cabanes; Maira Caleffi; Jorge Antonio Dunstan Yataco; Bishal Gyawali; Valerie McCormack; Myrna McLaughlin de Anderson; Ravi Mehrotra; Alejandro Mohar; Raul Murillo; Lydia E Pace; Electra D Paskett; Anya Romanoff; Anne F Rositch; John R Scheel; Miriam Schneidman; Karla Unger-Saldaña; Verna Vanderpuye; Tsu-Yin Wu; Safina Yuma; Allison Dvaladze; Catherine Duggan; Benjamin O Anderson Journal: Cancer Date: 2020-05-15 Impact factor: 6.860
Authors: Dan Stoianovici; Changhan Jun; Sunghwan Lim; Pan Li; Doru Petrisor; Stanley Fricke; Karun Sharma; Kevin Cleary Journal: IEEE Trans Biomed Eng Date: 2017-04-25 Impact factor: 4.538