Design and simulation of a visual and haptic assisted biopsy (ViHAB) system

Core needle biopsy is a non-invasive technique for confirming breast and prostate cancer. Several non-real time image based systems have been developed to guide the needle to the target. X-ray, ultrasound (US), MRI or x-ray fluoroscopy are used to guide the needle during biopsy. However, these methods are non-real time or, the imaging technique is two dimensional or, ionizing. Our broad objective is to develop a visually guided, haptically assisted breast biopsy system (ViHAB) using real time 3D US imaging and haptic guidance. ViHAB will help the radiologist identify suspicious tissue and provide real time guidance for core needle biopsy. The ViHAB simulator developed at the Virtual Environment Laboratory is capable of reading and displaying 3-D US images, keep track of micro-calcification in near real time in a sequence of images as well as provide haptic and visual guidance to a virtual needle via a joystick.