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Real-time Tumor Manipulation
During Image Guided Breast Biopsy Breast biopsy
guided by imaging techniques such as ultrasound is widely used to evaluate
suspicious masses within the breast. Currently, ultrasound imaging does not
allow live guidance during breast biopsy. The current procedure allows the
physician to determine the location and extent of a tumor in the patient
breast before inserting the needle. However, there are several problems with
this procedure: the complex interaction dynamics between the needle force and
the breast tissue will likely displace the tumor from its original position
necessitating multiple insertions, causing surgeons' fatigue, and
compromising the structural integrity of the tissue specimen. In this
work, we are developing a new concept for real-time manipulation of a tumor
using a robotic force controller. The robotic system monitors the image of
the tumor to generate appropriate force to position the tumor at a desired
location. The idea here is to demonstrate that it is possible to manipulate a
tumor in real-time by applying controlled external force in an automated way
such that the tumor does not deviate from the path of the needle. The success
of this approach has the potential to reduce the number of attempts a surgeon
makes to capture the desired tissue specimen, minimize tissue damage, improve
speed of biopsy, and reduce patient discomfort. |
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Related publications:
Copyright © 2008
Vanderbilt University. |
