This paper presents a novel needle path planning method for biopsy guided by digital breast tomosynthesis (DBT) taking into account breast heterogeneity. First, a multi-resolution optimization approach, guaranteeing that a relevant path is computed, is proposed. Moreover, local breast mechanical parameters required for a heterogeneous finite element simulation, are extracted from the DBT data. The proposed approach computes a 3D local breast glandularity estimation used for Young's modulus determination. This planning method, using a heterogeneous model, reduces the tool positioning error meanly by 75%. In addition, the results show that a breast heterogeneous model has the potential to improve planning accuracy.

This paper presents a new needle path planning method for digital breast tomosynthesis biopsy. Needle insertion planning into deformable tissue for breast biopsy procedure is a challenging task because of the infinite possibilities of insertion points. In addition, the lesion moves from its original position when the radiologist introduces the biopsy needle. The proposed approach couples Rapidly-exploring Random Trees with Finite Element Simulation in order to find an optimal path taking breast deformations into account. Simulation results show that this method reduces the error (i.e. the distance between the needle tip and the lesion) by 80%.