Centre for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Jinnan District, Tianjin, 300350, China.
Department of Radiation Oncology, Tianjin Medical University Cancer Institute and Hospital, Tianjin, 300060, China.
Int J Comput Assist Radiol Surg. 2022 Jun;17(6):993-1005. doi: 10.1007/s11548-022-02640-0. Epub 2022 Apr 30.
Breast cancer is currently the cancer type with the highest incidence in the world, and it is extremely harmful to women's health. MRI-guided breast biopsy is a common method in clinical examination of breast cancer. However, traditional breast biopsy is less accurate and takes a long time. In this study, an integrated navigation system (INS) based on a dedicated breast support device (DBSD) was proposed to assist doctors in biopsy.
The grid-shaped DBSD can reduce the displacement and deformation of the breast during the biopsy operation and is convenient for puncture. The robot system based on the DBSD is designed to assist doctors in performing puncture action. The software system has functions such as registration, path planning, and real-time tracking of biopsy needles based on the DBSD, which can assist doctors in completing the entire biopsy procedure. A series of experiments are designed to verify the feasibility and accuracy of the system.
Experiments prove that the robot system has reasonable structure and meets the requirements of MR compatibility. The latency of the INS during intraoperative navigation is 0.30 ± 0.03 s. In the phantom puncture experiment, the puncture error under the navigation of the INS is 1.04 ± 0.15 mm.
The INS proposed in this paper can be applied to assist doctors in breast biopsy in MR environment, improve the accuracy of biopsy and shorten the time of biopsy. The experimental results show that the system is feasible and accurate.
乳腺癌是目前世界上发病率最高的癌症类型，对女性健康危害极大。磁共振引导下乳腺活检是临床检查乳腺癌的常用方法。但传统的乳腺活检准确性较差，耗时较长。本研究提出了一种基于专用乳腺支撑装置（DBSD）的集成导航系统（INS），以协助医生进行活检。
网格状 DBSD 可减少活检过程中乳房的位移和变形，便于穿刺。基于 DBSD 的机器人系统设计用于辅助医生进行穿刺动作。软件系统具有基于 DBSD 的注册、路径规划和活检针实时跟踪等功能，可协助医生完成整个活检过程。设计了一系列实验来验证系统的可行性和准确性。
实验证明，机器人系统结构合理，符合磁共振兼容性要求。术中导航时 INS 的延迟为 0.30±0.03 s。在体模穿刺实验中，INS 导航下的穿刺误差为 1.04±0.15 mm。
本文提出的 INS 可应用于协助医生在磁共振环境下进行乳腺活检，提高活检的准确性，缩短活检时间。实验结果表明，该系统具有可行性和准确性。
