Robotic system for tumor manipulation and ultrasound image guidance during breast biopsy

Tumor mobility poses significant difficulty in obtaining tissue samples during ultrasound guided breast biopsy. In this work, we present a new concept for coordinated real-time tumor manipulation and ultrasound imaging using a hybrid control architecture. The idea here is to demonstrate that it is possible to (1) manipulate a tumor in real-time by applying controlled external force, (2) control the position of the ultrasound probe for tracking out-of-plane target movement, and (3) coordinate the above systems in an automated way such that the tumor does not deviate from the path of the needle. Experiments are performed on breast tissue mimicking phantoms to demonstrate the efficacy of this technique. The success of this approach has the potential to reduce the number of attempts a surgeon makes to capture the desired tissue specimen, minimize tissue damage, improve speed of biopsy, and reduce patient discomfort.