Position-based modeling of lesion displacement in ultrasound-guided breast biopsy

Augmented Reality-Assisted Ultrasound Breast Biopsy

Breast cancer is the most prevalent cancer in the world and the fifth-leading cause of cancer-related death. Treatment is effective in the early stages. Thus, a need to screen considerable portions of the population is crucial. When the screening procedure uncovers a suspect lesion, a biopsy is performed to assess its potential for malignancy. This procedure is usually performed using real-time Ultrasound (US) imaging. This work proposes a visualization system for US breast biopsy. It consists of an application running on AR glasses that interact with a computer application. The AR glasses track the position of QR codes mounted on an US probe and a biopsy needle. US images are shown in the user's field of view with enhanced lesion visualization and needle trajectory. To validate the system, latency of the transmission of US images was evaluated. Usability assessment compared our proposed prototype with a traditional approach with different users. It showed that needle alignment was more precise, with 92.67 ± 2.32° in our prototype versus 89.99 ± 37.49° in a traditional system. The users also reached the lesion more accurately. Overall, the proposed solution presents promising results, and the use of AR glasses as a tracking and visualization device exhibited good performance.

Position-based dynamics simulator of vessel deformations for path planning in robotic endovascular catheterization

A major challenge during autonomous navigation in endovascular interventions is the complexity of operating in a deformable but constrained workspace with an instrument. Simulation of deformations for it can provide a cost-effective training platform for path planning. Aim of this study is to develop a realistic, auto-adaptive, and visually plausible simulator to predict vessels' global deformation induced by the robotic catheter's contact and cyclic heartbeat motion. Based on a Position-based Dynamics (PBD) approach for vessel modeling, Particle Swarm Optimization (PSO) algorithm is employed for an auto-adaptive calibration of PBD deformation parameters and of the vessels movement due to a heartbeat. In-vitro experiments were conducted and compared with in-silico results. The end-user evaluation results were reported through quantitative performance metrics and a 5-Point Likert Scale questionnaire. Compared with literature, this simulator has an error of 0.23±0.13% for deformation and 0.30±0.85mm for the aortic root displacement. In-vitro experiments show an error of 1.35±1.38mm for deformation prediction. The end-user evaluation results show that novices are more accustomed to using joystick controllers, and cardiologists are more satisfied with the visual authenticity. The real-time and accurate performance of the simulator make this framework suitable for creating a dynamic environment for autonomous navigation of robotic catheters.

In vivo measurement of breast tissues stiffness using a light aspiration device

BACKGROUND

This paper addresses the question of the in vivo measurement of breast tissue stiffness, which has been poorly adressed until now, except for elastography imaging which has shown promising results but which is still difficult for clinicians to use on a day-to-day basis. Estimating subject-specific tissue stiffness is indeed a critical area of research due to the development of a large number of Finite Element (FE) breast models for various medical applications.

METHODS

This paper proposes to use an original aspiration device, put into contact with breast surface, and to estimate tissue stiffness using an inverse analysis of the aspiration experiment. The method assumes that breast tissue is composed of a bilayered structure made of fatty and fribroglandular tissues (lower layer) superimposed with the skin (upper layer). Young moduli of both layers are therefore estimated based on repeating low intensity suction tests (<40 mbar) of breast tissues using cups of 7 different diameters.

FINDINGS

Seven volunteers were involved in this pilot study with average Young moduli of 56.3 kPa  ± 16.4 and 3.04 kPa  ± 1.17 respectively for the skin and the fatty and fibroglandular tissue. The measurements were carried out in a reasonable time scale (<60 min in total) without any discomfort perceived by the participants. These encouraging results should be confirmed in a clinical study that will include a much larger number of volunteers and patients.