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  4. Intra-Control: Development of Fully Autonomous 3D Path Planning Algorithm Integrated with Robot for MRI-Safe Breast Cancer Biopsy

Intra-Control: Development of Fully Autonomous 3D Path Planning Algorithm Integrated with Robot for MRI-Safe Breast Cancer Biopsy

MSc assignment

Introduction:

In breast cancer diagnosis and treatment, the accuracy of tissue sampling during biopsy procedures is paramount. Robot-assisted biopsy systems have shown promise in enhancing precision and control, particularly in minimally invasive approaches. However, achieving fully autonomous and accurate biopsy planning and execution in MRI-guided procedures remains a significant challenge. This master's thesis proposal aims to address this challenge by developing a fully autonomous 3D path planning algorithm integrated with a robot for MRI-safe breast cancer biopsy. By leveraging advanced computational techniques and robotic systems, this research seeks to revolutionize biopsy procedures, improving diagnostic accuracy and patient outcomes.

Objectives:

  1. Develop a comprehensive 3D image segmentation and reconstruction algorithms to automatically detect the lesion and anatomical structures.
  2. Fully automatic bootstrap algorithm to recalibrate MR-safe robot and patient anatomy.
  3. Design and implement a fully autonomous 3D Path planning algorithm integrated with a robotic system to be able to address the influences of deformations and dynamic movements.
  4. Evaluate the performance and feasibility of the developed algorithm through simulated biopsy procedures and experimental validation in MRI environments at TechMed center.

Expected Outcomes:

  1. Automatic 3D image segmentation workflow which is embedded with current robot execution.
  2. Automatic bootstrap algorithm for fast robot-patient-MRI calibration.
  3. Development of a fully autonomous 3D Path planning algorithm integrated with a robotic system for MRI-safe breast cancer biopsy.
  4. Demonstration of improved accuracy, efficiency, and safety in MRI-guided robotic breast biopsy procedures through experimental validation.
  5. Publish research findings through conference presentations/posters and journal publications.

Conclusion:

This master's thesis proposal outlines a research endeavor aimed at developing a fully autonomous 3D planning algorithm integrated with a robot for MRI-safe breast cancer biopsy. By leveraging advanced computational techniques and robotic systems, this research seeks to revolutionize biopsy procedures, improving diagnostic accuracy and patient outcomes.