乳腺活检
乳腺肿瘤
计算机科学
干预(咨询)
心理干预
乳房成像
医学物理学
医学
乳腺组织
超声波
乳腺超声检查
人工智能
计算机视觉
放射科
乳腺癌
乳腺摄影术
内科学
癌症
精神科
作者
V. Mallapragada,Nilanjan Sarkar,Tarun Podder
出处
期刊:IEEE-ASME Transactions on Mechatronics
[Institute of Electrical and Electronics Engineers]
日期:2011-12-01
卷期号:16 (6): 1011-1020
被引量:32
标识
DOI:10.1109/tmech.2010.2068575
摘要
Minimally invasive breast biopsies have several advantages, such as low morbidity and decreased cost. However, success of these procedures is critically dependent on precise placement of the biopsy probe at the tumor location. In addition, during manual image-guided breast interventions, freehand ultrasound (US) imaging is challenging and coordinating image acquisition with probe insertion and breast stabilization simultaneously requires high level of skill. To address these problems, a novel robotic breast intervention device is presented in this paper. This system assists the clinician by: 1) ensuring accurate placement of the instrument at the tumor location and 2) autonomously acquiring real-time images of the tumor. Experimental results on breast phantoms demonstrate the efficacy of this device. This system has the potential to increase targeting accuracy while at the same time reducing the level of skill required to perform minimally invasive breast interventional procedures.
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