Introduction
In breast cancer biopsy procedures, accurate tissue sampling is critical for reliable diagnosis and treatment planning. Robot-assisted biopsy systems offer enhanced precision and repeatability, particularly in minimally invasive approaches. Traditionally, magnetic resonance imaging (MRI) has been used to guide such interventions, but MRI-based procedures face limitations including cost, low temporal resolution, and restrictive environments.
Ultrasound (US), in contrast, provides real-time imaging, portability, and ease of integration with robotic systems. However, US-guided biopsies are challenged by operator dependence, limited field of view, image artifacts, and tissue deformation caused by both the ultrasound probe and the biopsy needle. These factors complicate accurate needle targeting and sampling.
This master’s thesis aims to advance tissue deformation modelling for precise robot control in needle biopsy. By leveraging real-time imaging feedback and robotic ultrasound probe manipulation or even dynamic MRI, the project will investigate new modelling and control strategies to compensate for tissue motion and deformation, ultimately improving biopsy accuracy and patient outcomes.
Objectives
- Investigate state-of-the-art modelling techniques for tissue deformation prediction and adaptation in ultrasound-guided interventions.
- Develop deformation-aware models that consider both probe-induced and needle-induced soft tissue interactions and physiological motions, with implications for sensing and control strategies.
- Design and implement novel control algorithms that integrate real-time imaging feedback for adaptive robot-assisted biopsy guidance.
- Validate the proposed approach through phantom and/or cadaver experiments using robotic ultrasound setups or a dynamic MRI imaging system.
Expected Outcomes
- Development of algorithms for real-time deformation modelling using real-time imaging feedback, integrated with robot control mechanisms.
- Demonstration of improved accuracy and consistency in ultrasound-guided robot-assisted breast biopsy procedures through experimental validation.
- Dissemination of research results via attempting to write conference or even journal publications, fostering collaboration with researchers in medical robotics and image-guided interventions.
Conclusion
This master’s thesis proposes the research focused on advancing tissue deformation modelling for precise robot control in ultrasound-guided breast cancer biopsy. By integrating real-time imaging feedback with robotic systems, the project aims to overcome operator dependence and tissue deformation challenges, ultimately enhancing the accuracy and reliability of breast cancer diagnosis and treatment.