Automated biopsy path planning and navigation using a novel software-hardware platform

Le résumé fourni par la source

Purpose Image-guided biopsy is essential for safe and precise procedures, our main aim was to develop a software-hardware platform for assisting and automating this task. Methods This study presents a prototype hardware-software platform for biopsy assistance, featuring an optimization tool for preplanning and the MentorEye system for real-time needle navigation using a simple support setup. Evaluation was conducted on a custom skull phantom with brain tissue and cancerous lesions. The system optimizes needle paths while considering surrounding structures and provides intraoperative guidance. Results The planning tool successfully generated viable trajectories for all lesions, typically aligning with the shortest insertion paths. The mean Target Registration Error between CT and optical navigation was 2.08 ± 0.43 mm. In seven simulations, all biopsies were successful, with a mean deviation of 2.15 ± 0.84 mm and an nRMSE of 3.7%. Conclusions The accuracy of the surgery simulation was influenced by segmentation, registration procedure, possible brain shift between imaging and intraoperative position, navigation system errors, and manual errors by the operator. Experiment results confirmed good efficiency of developed tools for automatic planning and image-guided aiding biopsy.

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