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Our laboratory previously conducted feasibility studies of autonomous robotic breast biopsy guided by 4D ultrasound. Using a complete 3D image volume, processed by elementary thresholding algorithms with no human intervention, the robot was able to successfully target bright voxels representing micro-calcifications and dark regions representing cysts in turkey breast tissue. We now describe a clinical...
In 2006 our laboratory showed that a matrix array endoscope capable of real-time 3D (RT3D) scanning could be used to guide a surgical robot with an rms error of less than 2mm. In 2007, image segmentation software was developed to achieve autonomous RT3D guidance of the robot with no human/robot interaction required, and a cyst phantom in tissue-mimicking slurry was successfully targeted. In this paper,...
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