Toward biomimic breast deformable model for robotic breast biopsy navigation development

Breast cancer is the most common cancer in female. Accuracy of breast biopsy intervention is necessary for the certain breast cancer diagnosis. Many breast navigation systems have been developed in the past time to cope with this uncertainty, however, the worthwhile accuracy could not yet reach due to the breast deformation during the intervention. The concept of breast mathematical model to simulate breast deformation and guide the breast biopsy intervention is proposed in this paper. The real-time and the accuracy of the model are the critical requirements to use the model with the breast biopsy navigation. The breast model is constructed by simplify the continuous breast tissues into finite point-masses system with specific stiffness and damp on linkages between masses. The mesh alignments are arbitrary base on evidence of the tissue´s microstructure. The mass-spring method is used for implementation the point-masses and their linkages. The experimental system simulation for using model with real-time breast biopsy navigation was setup on a constructed massspring system of 2D breast phantom. The experiment was performed to proof the core concept of the proposed breast model to be use as a key component for our full-robotic breast biopsy navigation.