Needle Placement for Robot-assisted 3D-guided Ultrasound Breast Biopsy: A Preliminary Study



Breast biopsy, Modeling, Needle placement, Robot-assisted, 3D ultrasound


This work describes a new robot-assisted three-dimensional ultrasound-guided needle placement for breast biopsy to improve cancer diagnosis by automating needle trajectory, simplifying manual insertion and alleviating radiologist fatigue. In this way, basic robot requirements were first determined based on linking a free-hand ultrasound-guided breast biopsy with a whole-breast volumetric reconstruction system as part of a clinical workflow for breast cancer diagnosis. For modeling, a five-degree-of-freedom open-chain robot was proposed by considering the woman’s breast volume and a radial ultrasound scanning approach as workspace. The forward and inverse kinematics were calculated using the screw axis-based theory and a geometric-algebraic formulation, respectively. For trajectories, a collision-free path algorithm was computed to assess target reachability. For simulating, a dedicated biopsy environment was implemented in MATLAB-Simulink to perform multiple simulations by modifying some radiologist manipulability variables in accordance with a factorial-method research design. The results showed a numerical and graphical verification of the equations and even a visual one of the needle placement during two stages: before a biopsy and after it. In conclusion, it was computationally explored the use of a novel robot-assisted needle placement in breast biopsy for women in a prone position.


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Author Biographies

Sergio Jácobo-Zavaleta, Universidad Nacional de Trujillo

He received his bachelor’s degree in Mechatronics Engineering (2019) from the Universidad Nacional de Trujillo, Peru. His research interests include design of clinical robots and biomedical applications based on Artificial Intelligence using Machine

Jorge Zavaleta, State University of Rio de Janeiro

He received the Ph. D in Systems and Computer Engineering in the Federal University of Rio de Janeiro (UFRJ) in 2017. He received the title of master’s in computer science from the Federal University of Rio Grande do Sul (UFRGS) in 1997. He received the title of Licenciate in Mathematics from the Universidad Nacional de Trujillo (UNT) in 1998 and received a bachelor’s degree in Physical and Mathematical Sciences from the UNT in 1992. Professor of Computing and currently a researcher of postdoctoral at the State University of Rio de Janeiro (UERJ) in the project CAPES-Telemedicine and Medical Data Analysis. He is interested in topics research related to Data Science, Artificial Intelligence and Machine Learning.


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How to Cite

Jácobo-Zavaleta, S. ., & Zavaleta, J. (2023). Needle Placement for Robot-assisted 3D-guided Ultrasound Breast Biopsy: A Preliminary Study. IEEE Latin America Transactions, 21(3), 450–456. Retrieved from