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International Journal of Computer Assisted Radiology and Surgery

Erschienen in:

01.12.2015 | Original Article

Robot guidance of an ultrasound probe toward a 3D region of interest detected through X-ray mammography

verfasst von: Marie-Aude Vitrani, Anja Marx, Rǎzvan Iordache, Serge Muller, Guillaume Morel

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 12/2015

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Abstract

Purpose

This research is situated in the context of breast cancer detection where the standard procedure is the succession of an initial mammography (MX) examination and a supplementary ultrasound (US) scan. One major difficulty of this procedure results from the fact that breast geometry changes between both examinations due to different patient’s positions. The proposed system facilitates this combined examination by keeping the breast geometry and by adding a US probe guidance robot to the mammography system.

Methods

A comanipulation system is set up where the robot and user simultaneously manipulate the probe toward the target previously localized in MX images. Calibration procedures and robot control are detailed.

Results

A test protocol was presented to conduct two tests that are both related to the medical application. The first tests aim at evaluating robot guidance for localizing a lesion which was previously defined in the X-ray images. The second tests aim at quantifying robot influence when scanning a target lesion. The studied task consists of a pointing/scanning exercise, where the US beam intersects a breast lesion.

Conclusions

The experiments show a significant increase in examination quality when using robot guidance as compared to the nonassisted examination.

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Titel: Robot guidance of an ultrasound probe toward a 3D region of interest detected through X-ray mammography
verfasst von: Marie-Aude Vitrani
Anja Marx
Rǎzvan Iordache
Serge Muller
Guillaume Morel
Publikationsdatum: 01.12.2015
Verlag: Springer Berlin Heidelberg
Erschienen in: International Journal of Computer Assisted Radiology and Surgery / Ausgabe 12/2015
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-015-1244-8

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Abstract

Purpose

Methods

Results

Conclusions

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