Needle path planning method for digital breast tomosynthesis biopsy based on probabilistic techniques

Authors:
Laurence Vancamberg;Anis Sahbani;Serge Muller;Guillaume Morel
Affiliations:
,GE Healthcare, Buc;ISIR-CNRS, Pierre & Marie Curie University, Paris 6, UMR 7222, Paris;GE Healthcare, Buc;ISIR-CNRS, Pierre & Marie Curie University, Paris 6, UMR 7222, Paris
Venue:
IWDM'10 Proceedings of the 10th international conference on Digital Mammography
Year:
2010

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Abstract

Needle insertion planning for breast biopsy has the potential to improve patient comfort and intervention safety However, this is a challenging task because of the infinite possibilities of insertion points and the breast tissue deformations during the procedure In this paper, we present a novel approach that couples probabilistic motion planning methods with Finite Element Simulation in order to find an optimal path taking breast deformation into account This method reduces the error (i.e. the distance between the needle tip and the lesion) meanly by 80% and the proposed planner divides the planning time by 5 in comparison to a classic Rapidly-Exploring Random Tree planning method.