부산대학교 도서관

Our laboratory previously conducted feasibility studies of autonomous robotic breast biopsy guided by 4D ultrasound. Using a complete 3D image volume, processed by elementary thresholding algorithms with no human intervention, the robot was able to successfully target bright voxels representing micro-calcifications and dark regions representing cysts in turkey breast tissue. We now describe a clinical prototype of a computer-controlled single arm robot guided by 4D ultrasound which can autonomously locate a breast lesion and then fire a spring-loaded biopsy needle into the lesion. RMS error in a water tank experiment locating a bright point target was 2.82 mm.