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BackgroundCT‐guided needle biopsy of lung nodules requires breath holding during needle placement, and is thus inapplicable to patients with difficulty in holding breath.
MethodsA robotic needle biopsy technique is introduced, adapting to the patient respiratory pattern and using a robot manipulator to drive the needle towards a moving lung nodule. Based on the nodule respiratory motion model, needle...
CT-guided needle biopsy is a dominant method of obtaining tissue samples from lung nodules for lung cancer diagnosis. Current practice requires patients to hold their breath during the procedure, which is not applicable to those who have difficulty in holding breath. This paper introduces a CT-guided robotic needle biopsy technique, which adapts to the patient respiratory motion pattern and uses a...
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