A Path Generation Algorithm for Biopsy Needle Insertion in A Robotic Breast Biopsy Navigation System

Breast biopsy is a procedure to get tissue sample to identify breast cancer. A radiologist performs breast biopsy by inserting the biopsy needle on the trajectory path from their opinion and experience under ultrasound-image guidance. An accuracy of needle insertion is necessary to avoid accidents; therefore, high skill and experience of radiologist are needed. Breast biopsy navigation system, with graphical user interfaces and a passive robotic needle holder, was developed to enhance an efficiency of this procedure. An algorithm of trajectory path is calculated and implemented in this system to get high performance. This paper presents the new idea of trajectory path's algorithm by two mathematic theories: Lagrange Multipliers and Vector in three-Dimensional. This path is calculated and generated in the condition of the shortest distance between suspected lesion and breast surface on a hemisphere shape. The trajectory path is displayed and guided the radiologist on graphical user interfaces with 2D and 3D guidance. When the position of lesion is changed, the trajectory path is also changed from the algorithm that can be assured about the trajectory path's algorithm and guidance system. Moreover, the passive robotic needle holder is applied to control the biopsy needle during perform breast biopsy with effective mechanism to increase the breast biopsy performance.