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

Adam Ciszkiewicz1, Jakub Urban2, Grzegorz Ziółkowski2

  • 11Faculty of Mechanical Engineering, Cracow University of Technology, Kraków, Poland.

Acta of Bioengineering and Biomechanics
|December 12, 2025
PubMed
Summary

This study developed an automated image-guided biopsy system for precise needle placement. The novel platform enhances surgical safety and efficiency in complex procedures.

Keywords:
computer assisted biopsydifferential evolutionlargest empty spherelesionneedletracking system

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Area of Science:

  • Medical Imaging
  • Surgical Robotics
  • Computational Anatomy

Background:

  • Image-guided biopsy is crucial for procedural safety and accuracy.
  • Current methods often require manual planning and intraoperative adjustments.
  • Automation can improve precision and reduce invasiveness.

Purpose of the Study:

  • To develop a software-hardware platform for automated biopsy planning and intraoperative assistance.
  • To integrate computational methods for optimizing needle trajectories and ensuring safety.
  • To validate the system's performance on a phantom model.

Main Methods:

  • Development of a voxel-based needle representation on a DICOM cost-map.
  • Optimization of needle paths using Differential Evolution for safety (largest empty sphere).
  • Implementation of the MentorEye system for real-time navigation and evaluation on a skull phantom.

Main Results:

  • Automated planning tool generated viable trajectories, often the shortest paths.
  • Mean Target Registration Error was 2.08 ± 0.43 mm, comparable to computer-assisted procedures.
  • Simulations showed successful biopsies with a mean deviation of 2.15 ± 0.84 mm and 3.7% nRMSE.

Conclusions:

  • The developed platform demonstrated efficient automatic planning for image-guided biopsy.
  • The system provides effective intraoperative guidance, enhancing biopsy procedures.
  • Results indicate the potential for improved accuracy and safety in image-guided interventions.