Path planning simulation for 3D ultrasound guided needle biopsy system

We propose a path planning simulation system for 3D ultrasound guided needle biopsy, this system is designed to accurately take a 3D biopsy specimen from an abdominal focal lesion without puncturing a blood vessel or pass through ribs, the introduced system traces the 3D position of the biopsy needle and visualizes the needle in 3D and 2D in real time format, this new designed system gives the physician the optimal pathway to get a biopsy before puncturing the patient and visualizes this pathway in real time during the flythrough movement. Real time visualization of the needle in MPR and 3D volume of interest is performed. Experimental results on an in-vitro phantoms and after path phantoms showed promising results of this system