A sensorized needle guide for ultrasound assisted breast biopsy.

One in every eight women will get breast cancer during their lifetime. Therefore, the early diagnosis of the lesions is fundamental to improve the chances of recovery. To find breast cancers, breast screening using techniques such as mammography and ultrasound (US) imaging scans are often used. When a lesion is found, a breast biopsy is performed to extract a tissue sample for analysis. The breast biopsy is usually assisted by an US to help find the lesion and guide the needle to its location. However, the identification of the needle tip in US image is challenging, possibly resulting in puncture failures. In this paper, we intend to study the potential of a sensorized needle guide system that provides information about the needle angle and displacement in respect to the US probe. Laboratory tests were initially conducted to evaluate the accuracy of each sensor in controlled conditions. After, a practical experiment with the US probe, working as a proof of concept, was performed. The angle sensor showed a root mean square error (RMSE) of 0.48 degrees and the displacement sensor showed a RMSE of 0.26mm after being calibrated. For the US probe tests, the displacement sensor shows high errors in the range of 1.19mm to 2.05mm due to mechanical reasons. Overall, the proposed system showed its potential to be used to accurately estimate needle tip localization throughout breast biopsies guided by US, corroborating its potential clinical application. Clinical relevance - Potential for clinical application where precise needle localization in ultrasound image is required.