A stereo-fluoroscopic image-guided robotic biopsy scheme

摘要

This paper investigates some key issues in a simulation of a stereo-fluoroscopic image-guided robotic breast biopsy system: real-time 3D path planning and robot trajectory control with considerations of safety, tissue impedance, needle flexibility, and imaging time delay. It presents a robot control scheme which allows automatic and continuous adjustments on the needle inserting path according to a real-time 3D position feedback, and is applicable to soft tissue and organ biopsy, with the expected advantages of increased accuracy, short completion time, and minimal invasiveness to the patient. Simulation results are used to illustrate the effectiveness of the developed scheme.