Three-dimensional ultrasound guidance of autonomous robotic breast biopsy: feasibility study.

  title={Three-dimensional ultrasound guidance of autonomous robotic breast biopsy: feasibility study.},
  author={Kaicheng Liang and Albert J. Rogers and Edward D. Light and Daniel von Allmen and Stephen W. Smith},
  journal={Ultrasound in medicine & biology},
  volume={36 1},
Feasibility studies of autonomous robot biopsies in tissue have been conducted using real-time three-dimensional (3-D) ultrasound combined with simple thresholding algorithms. The robot first autonomously processed 3-D image volumes received from the ultrasound scanner to locate a metal rod target embedded in turkey breast tissue simulating a calcification, and in a separate experiment, the center of a water-filled void in the breast tissue simulating a cyst. In both experiments the robot then… CONTINUE READING

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