MRI and Ultrasound Robotic Assisted Biopsy

Deliverables

Documents, reports (15)

Data Management Plan

This Deliverable will describe how to cope with the Data Management Plan Pilot as described in Article 29.3 of the Grant Agreement. The deliverable will address the open distribution of publications and data.

Review on non-rigid local deformation models in 3D medical images.

Selection of a deformation model, which is suitable in US/breast images. Validation of this deformation model.

Review on state space models that describe inertial behaviour.

Selection of a state space model, which is suitable in US/breast images. Validation of this state space model.

Full evaluation report of the TAS procedure

Full evaluation report of the TAS procedure

Progress report on US/MR image registration

Progress report on US/MR image registration

Consideration and recommendation on preclinical tests

In this deliverable an overview is provided on ‘do’s and don’ts’ for technology developers with respect to designing preclinical tests in relation to their desired outcome.

Finalization of the system architecture

All safety concepts is implemented.

Bringing MURAB to the market

In this document a plan will be presented which will describe the step which should be taken after the completion of the project to take care that the innovation will reach the market from a business point of view

The MURAB Clinical Workflow

This will be a final document specifying in details how the developed technologies and the total workflow can be deployed in the clinical practice of an hospital

Report on usability of MURAB for muscle biopsies

Depending on the exact study design, this report will contain details on possible added value of the system for patients and doctors.

Report on Preclinical in vivo tests

The expected outcomes, such as user feedback and compatibility to clinical workflow, are likely to alter the design of the system. This report will summarize the recommended changes.

Final Evaluation Report with Project Outcome Summary.

Final Evaluation Report with Project Outcome Summary.

Review on state estimators applicable for SLAM-like problems.

Selection of a state estimator, which is suitable in US/breast images. Validation of this state estimator.

Control Architecture

Definition and specification of the implemented architecture, software components and API for the control of the system

Review on local feature extraction in 3D medical images

Selection of features, which are discernible in US/breast images. Validation of these features and associated extractors.

Other (2)

Software for robot control and data acquisition/storage Implemented and tested.

Implemented and tested.

Establishment of the Advisory Board

Establishment of the Advisory Board

Websites, patent fillings, videos etc. (3)

Professional Video on the achievements of MURAB

Final video reporting the achievements of MURAB

MURAB Web Page

Web Page of the project on-line, with information for researchers, doctors and patients.

Professional Video on the MURAB Concept

Video of the presentation of the MURAB concepts, objectives and ambitions

Open Research Data Pilot (1)

ORDP: Data Management Plan

This Deliverable will describe how to cope with the Data Management Plan Pilot as described in Article 29.3 of the Grant Agreement. The deliverable will address the open distribution of publications and data.

Demonstrators, pilots, prototypes (3)

Final Design Robotic Head

Final design, specification and realisation of the head adapter to be mounted to the arm

Robot flange

Designed and manufactured.

Final Design Intelligent Transducer

Final design, specification, realisation and SW interfacing of the force sensor for the US transducer.

Publications

Conference proceedings (22)

Physical Human-Robot Interaction under Joint and Cartesian Constraints

Author(s): Juan D. Munoz Osorio, Felix Allmendinger, Mario D. Fiore, Uwe E. Zimmermann, Tobias Ortmaier
Published in: 2019 19th International Conference on Advanced Robotics (ICAR), 2019, Page(s) 185-191, ISBN 978-1-7281-2467-4
Publisher: IEEE
DOI: 10.1109/icar46387.2019.8981579

Time Invariant Motion Controller for Physical Human Robot Interaction

Author(s): Juan D. Muñoz Osorio, Felipe Castañeda, Felix Allmendinger, Uwe E. Zimmermann
Published in: Volume 5A: 43rd Mechanisms and Robotics Conference, ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2019, ISBN 978-0-7918-5923-0
Publisher: American Society of Mechanical Engineers
DOI: 10.1115/detc2019-98031

Real-time volumetric ultrasound imaging using free hand scanning

Author(s): Anton Nikolaev, Chris L. de Korte, Hendrik . Hansen
Published in: Medical Imaging 2018: Ultrasonic Imaging and Tomography, 2018, Page(s) 9, ISBN 9781-510616509
Publisher: SPIE
DOI: 10.1117/12.2293817

Operational Space Formulation Under Joint Constraints

Author(s): Juan D. Muñoz Osorio, Mario D. Fiore, Felix Allmendinger
Published in: Volume 5B: 42nd Mechanisms and Robotics Conference, 2018 August 26-29, 2018, Page(s) V05BT07A022, ISBN 978-0-7918-5181-4
Publisher: ASME
DOI: 10.1115/detc2018-86058

MRI and stereo vision surface reconstruction and fusion

Author(s): Trishia El Chemaly, Francoise J. Siepel, Sandy Rihana, Vincent Groenhuis, Ferdi van der Heijden, Stefano Stramigioli
Published in: 2017 Fourth International Conference on Advances in Biomedical Engineering (ICABME), 19-21 Oct. 2017, 2017, Page(s) 1-4, ISBN 978-1-5386-1642-0
Publisher: IEEE
DOI: 10.1109/icabme.2017.8167571

Ultrasound-guided breast biopsy of ultrasound occult lesions using multimodality image co-registration and tissue displacement tracking

Author(s): Anton Nikolaev, Hendrik H. G. Hansen, Eleonora Tagliabue, Bogdan Mihai Maris, Vincent Groenhuis, Chris L. de Korte
Published in: 2019, Page(s) Poster
Publisher: 7th Dutch Biomedical Engineering conference 2019

Automated 3D Ultrasound for Quantitative Assessment of Mechanical Properties of Skeletal Muscle

Author(s): Leon de Jong, Anton Nikolaev, Anna Greco, Jurgen Fütterer, Chris de Korte
Published in: 24/01/2019, 2019, Page(s) Poster 20
Publisher: 7th Dutch Biomedical Engineering conference 2019

Program the Task, not the Robot!

Author(s): Allmendinger, Felix
Published in: 02/09/18, 2018
Publisher: European Conference on Mechanism Science (EuCoMes)

Patient specific FE modeling for deformable breast registration

Author(s): Eleonora Tagliabue, Bogdan Maris, Andrea Roberti, Anton nikolaev, Leon De Jong, Paolo Fiorini
Published in: 2018
Publisher: CRAS 2018 Joint Workshop on New Technologies for Computer/Robotic Assisted Surgery

Breast Tissue Parameter Estimation Using Finite Element Analysis

Author(s): Francesco Visentin, Bogdan Maris, Paolo Fiorini
Published in: 2017
Publisher: CRAS 2017 Joint Workshop on New Technologies for Computer/Robotic Assisted Surgery

MURAB: A new robotic system for high precision biopsy

Author(s): Bogdan M. Maris, Françoise J. Siepel, Diego Dall’Alba, Vincent Groenhuis, Paolo Fiorini, Stefano Stramigioli
Published in: September 24–28, 2017, 2017
Publisher: IEEE/RSJ International Conference on Intelligent Robots and Systems

MURAB: MRI and ultrasound robotic assisted biopsy

Author(s): Bogdan M. Maris, Françoise J. Siepel, Diego Dall’Alba, Vincent Groenhuis, Paolo Fiorini, Stefano Stramigioli
Published in: 2017
Publisher: 29th International Congress of the Society for Medical Innovation and Technology (iSMIT)

A position-based framework for the prediction of probe-induced lesion displacement in Ultrasound-guided breast biopsy

Author(s): Eleonora Tagliabue, Diego Dall’Alba, Enrico Magnabosco, Chiara Tenga, Paolo Fiorini
Published in: 2019
Publisher: CRAS 2019

Convolutional network for multi-planar pose prediction in medical imaging

Author(s): Bogdan Maris, Eros Ghignoni, Paolo Fiorini
Published in: 2019
Publisher: CRAS 2019

Operational Space Control from an Industrial Point of View

Author(s): Allmendinger, Felix
Published in: 23/10/17, 2017
Publisher: "Symposium ""40 Years of Operational Space Control"""

Combining MRI and Ultrasound for robotic assisted biopsy in breast cancer and muscle diseases

Author(s): Johannes Lachner
Published in: 22/02/18, 2018
Publisher: Kickoff Cobra-Project

Safety related task level control with redundant manipulator in medical application

Author(s): Johannes Lachner
Published in: CURAC PhD workshop, 24/05/18, 2018
Publisher: CURAC PhD workshop

Predicting treatment response in invasive ductal breast carcinoma using three-dimensional quantitative ultrasound analysis

Author(s): Aisha Meel-van den Abeelen, Gert Weijers, Jan van Zelst, Johan Thijssen, Ritse Mann, Chris de Korte
Published in: 2017 IEEE International Ultrasonics Symposium (IUS), 2017, Page(s) 1-1, ISBN 978-1-5386-3383-0
Publisher: IEEE
DOI: 10.1109/ultsym.2017.8091781

The influence of coordinates in robotic manipulability analysis

Author(s): Lachner J, Schettino V, Allmendinger F, Fiore MD, Ficuciello F, Siciliano B, Stramigioli S
Published in: IEEE Robotics and Automation Letters (RA-L), 2019
Publisher: International Conference on Robotics and Automation (ICRA) 2019

Deformable Surface Registration for Breast Tumors Tracking: A Phantom Study

Author(s): Bogdan M. Maris, Paolo Fiorini
Published in: Biomedical Engineering, 2017, ISBN 978-0-88986-990-5
Publisher: ACTAPRESS
DOI: 10.2316/P.2017.852-021

Towards an intra-operative calibration-preserving freehand ultrasound system

Author(s): D. Dall'Alba, F. Bovo, D. Zerbato, A. Forgione, P. Fiorini
Published in: Computer Aided Radiology and Surgery, 2016
Publisher: International Foundation for Computer Assisted Radiology and Surgery

Retrospective Study on Phantom for the Application of Medical Image Registration in the Operating Room Scenario

Author(s): Bogdan M. Maris, Paolo Fiorini
Published in: Biomedical Engineering, 2016, ISBN 978-0-88986-981-3
Publisher: ACTAPRESS
DOI: 10.2316/P.2016.832-029

Thesis dissertations (2)

Robotic systems for breast biopsy using MRI and ultrasound imaging

Author(s): V. Groenhuis
Published in: 2020
Publisher: University of Twente
DOI: 10.3990/1.9789036548922

Breast lesion markers for 3D ultrasound examinations of the breast

Author(s): L. de Jong1, M. K. Welleweerd2, J. van Zelst1, F. J. Siepel2, S. Stramigioli2, J. J. Futterer1, R. M. Mann1, C. L. de Korte1; 1Nijmegen/NL, 2Enschede/NL
Published in: 01/03/2018, 2018
Publisher: ESR, European society of radiology
DOI: 10.1594/ecr2018/c-2956

Peer reviewed articles (4)

Analytical derivation of elasticity in breast phantoms for deformation tracking

Author(s): Vincent Groenhuis, Francesco Visentin, Françoise J. Siepel, Bogdan M. Maris, Diego Dall’alba, Paolo Fiorini, Stefano Stramigioli
Published in: International Journal of Computer Assisted Radiology and Surgery, 13/10, 2018, Page(s) 1641-1650, ISSN 1861-6410
Publisher: Springer Verlag
DOI: 10.1007/s11548-018-1803-x

Iterative simulations to estimate the elastic properties from a series of MRI images followed by MRI-US validation

Author(s): Francesco Visentin, Vincent Groenhuis, Bogdan Maris, Diego Dall’Alba, Françoise Siepel, Stefano Stramigioli, Paolo Fiorini
Published in: Medical & Biological Engineering & Computing, 2018, ISSN 0140-0118
Publisher: Institute of Electrical Engineers
DOI: 10.1007/s11517-018-1931-z

3D quantitative breast ultrasound analysis for differentiating fibroadenomas and carcinomas smaller than 1 cm

Author(s): A.S.S. Meel-van den Abeelen, G. Weijers, J.C.M. van Zelst, J.M. Thijssen, R.M. Mann, C.L. de Korte
Published in: European Journal of Radiology, 88, 2017, Page(s) 141-147, ISSN 0720-048X
Publisher: Elsevier BV
DOI: 10.1016/j.ejrad.2017.01.006

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

Author(s): Eleonora Tagliabue, Diego Dall’Alba, Enrico Magnabosco, Chiara Tenga, Igor Peterlik, Paolo Fiorini
Published in: International Journal of Computer Assisted Radiology and Surgery, 14/8, 2019, Page(s) 1329-1339, ISSN 1861-6410
Publisher: Springer Verlag
DOI: 10.1007/s11548-019-01997-z