Design of an end-effector for robot-assisted ultrasound-guided breast biopsies.

ABSTRACT: PURPOSE:The biopsy procedure is an important phase in breast cancer diagnosis. Accurate breast imaging and precise needle placement are crucial in lesion targeting. This paper presents an end-effector (EE) for robotic 3D ultrasound (US) breast acquisitions and US-guided breast biopsies. The EE mechanically guides the needle to a specified target within the US plane. The needle is controlled in all degrees of freedom (DOFs) except for the direction of insertion, which is controlled by the radiologist. It determines the correct needle depth and stops the needle accordingly. METHOD:In the envisioned procedure, a robotic arm performs localization of the breast, 3D US volume acquisition and reconstruction, target identification and needle guidance. Therefore, the EE is equipped with a stereo ca

SUBMITTER: Welleweerd MK 

PROVIDER: S-EPMC7142059 | biostudies-literature | 2020 Apr

REPOSITORIES: biostudies-literature