10/6 Robotic biopsy guidance

The aim of the project is to add two new dimensions to the field of virtual autopsy: 3D-CAD-photogrammetry, 3D-surface scanning and robotically controlled percutaneous biopsy. Virtual autopsy (or virtopsy) refers to a total body scan using computed tomography (CT) and/or magnetic resonance imaging (MRI) of a deceased person.

The obtained cognitions become evaluated and validated by answering reconstructive questions using synthesized body models, which have been developed at the Centre for Forensic Imaging and Virtopsy of the Institute of Forensic Medicine, University of Berne.

The planned aim of the virtopsy project is the combination of imaging techniques (MSCT and MRI) with surface documentation (surface scanner), post-mortem angiography and post-mortem image-guided biopsy to one automatized examination modality, so-called Virtobot. A robotic arm of such modality will provide a precise and automated placement of injection tools for minimally invasive angiography or biopsy needles for image guided sampling of body fluids and tissue probes.

The following components will be developed:

• a robot planning module based on MARVIN, including evaluation volume rendering technologies and automatic trajectory definition for biopsy
  
• a registration module (CT volume data, 3D surface data)
  
• Body referencing for motion compensation during multiple biopsies
  
• a robotic system for automated insertion of the biopsy needle and sampling of probes
  
• a communication module, i.e. a link between MARVIN, the robot controller, the navigation system and the planning station