ICRA 2011 Paper Abstract


Paper ThP113.3

Vancamberg, Laurence (General Electric Healthcare / Université Pierre & Marie Curie), SAHBANI, ANIS (Université Pierre et Marie Curie - Paris 6), Muller, Serge (GE Healthcare), Morel, Guillaume (Univ. Pierre et Marie Curie - Paris 6)

Needle Path Planning for Digital Breast Tomosynthesis Biopsy Using a Heterogeneous Model

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems VII" (ThP113), Thursday, May 12, 2011, 14:10−14:25, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Motion and Path Planning, Medical Robots and Systems, Animation and Simulation


This paper presents a novel needle path planning method for biopsy guided by digital breast tomosynthesis taking into account breast heterogeneity. First, a multi-resolution approach, guaranteeing that the cost of the computed path is acceptable, is proposed. Moreover, breast mechanical parameters are extracted from the DBT data, which is a challenging task because of the acquisition geometry. The proposed approach computes a 3D local breast glandularity estimation used for Young’s modulus determination. This planning method reduces the planning error meanly by 75%. In addition, the results show that a breast heterogeneous model has the potential to improve planning accuracy and realism.



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