Autonomous Robotic System for Breast Biopsy With Deformation Compensation

Image-guided biopsy is the most common technique for breast cancer diagnosis. Although magnetic resonance imaging (MRI) has highest sensitivity in lesion detection, ultrasound (US) guidance generally preferred due to its non-invasiveness and real-time image feedback during insertion. In this work, we propose an autonomous robotic system US-guided of lesions identified on pre-operative MRI. After initial MRI registration, US probe attached manipulator compresses tissues until a pre-determined force level reached. This technique, known as preloading, will allow minimize displacement needle Our workflow integrates deformation compensation strategy based patient-specific biomechanical model update orientation keeping target plane compression. By relying model, proposed does not require visibility US. Experimental evaluation performed assess performance realistic phantom with 15 internal lesions, considering different preloading forces. The allows improve localization accuracy, consequence final positioning, all considered lesions. Median error 3.3 mm, which lower than median radius, when applying 2 N, guarantees both minimal insertion tissue stress.