摘要
Ultrasound guided breast biopsy navigation system with a graphical user interface and a passive robotic needle holder is developed to increase the performance and reliability of the radiologist.Ultrasound calibration and tool tip calibration are required before using the system.A ladder phantom is developed to be used for ultrasound calibration in real time system with only one ultrasound image required.The passive robotic needle holder structure results in an identity matrix for the makes the rotation matrix;therefore,only translation and scaling are required in the system.This method can be applied to multiple ultrasound depths,which has a relationship at each depth and a relationship to the ultrasound image on the display.The results show high accuracy(<1 mm.)and rapid calibration(5–10 minutes)which is suitable for a real time system like a breast biopsy navigation system based on tests with a breast phantom.
基金
the Computer-Integrated Intelligent Medical System Project under the National Research University Grant through Mahidol University
the Integration of Surgical Navigation and Surgical Robotics for Breast Biopsy in Breast Cancer using Mammogram and ultrasound Images on Breast Mathematical Model Project under the Government Research Budget through Mahidol University(Grant 111-2558)。
