Evidence map›Paper›PMID 40186716›Full record

ArticleInternational journal of computer assisted radiology and surgery2025

Touching the tumor boundary: a pilot study on ultrasound-based virtual fixtures for breast-conserving surgery.

Laura Connolly, Tamas Ungi, Adnan Munawar, Anton Deguet, Chris Yeung, Russell H Taylor, Parvin Mousavi, Gabor Fichtinger, Keyvan Hashtrudi-Zaad

Abstract read
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In one paragraph

Article in International journal of computer assisted radiology and surgery, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it
0cells of the map it votes in
1citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

  1. Review
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

9 authors.

Laura ConnollyQueen's University, Kingston, Ontario, Canada. laura.connolly@queensu.ca.ORCID http://orcid.org/0009-0005-8675-160X
Tamas UngiQueen's University, Kingston, Ontario, Canada.
Adnan MunawarJohns Hopkins University, Baltimore, Maryland, USA.
Anton DeguetJohns Hopkins University, Baltimore, Maryland, USA.
Chris YeungQueen's University, Kingston, Ontario, Canada.
Russell H TaylorJohns Hopkins University, Baltimore, Maryland, USA.
Parvin MousaviQueen's University, Kingston, Ontario, Canada.
Gabor FichtingerQueen's University, Kingston, Ontario, Canada.
Keyvan Hashtrudi-ZaadQueen's University, Kingston, Ontario, Canada.ORCID http://orcid.org/0000-0003-3567-5430

Funding

Canadian Institute for Advanced Research (CIFAR) AI ChairJohns Hopkins University Internal FundsNational Science and Engineering Research Council (NSERC) Canada Graduate Scholarship - DoctoralNational Science and Engineering Research Council (NSERC) Canada Research Chair
6 · The paper itself

Abstract

purposeDelineating tumor boundaries during breast-conserving surgery is challenging as tumors are often highly mobile, non-palpable, and have irregularly shaped borders. To address these challenges, we introduce a cooperative robotic guidance system that applies haptic feedback for tumor localization. In this pilot study, we aim to assess if and how this system can be successfully integrated into breast cancer care.

methodsA small haptic robot is retrofitted with an electrocautery blade to operate as a cooperatively controlled surgical tool. Ultrasound and electromagnetic navigation are used to identify the tumor boundaries and position. A forbidden region virtual fixture is imposed when the surgical tool collides with the tumor boundary. We conducted a study where users were asked to resect tumors from breast simulants both with and without the haptic guidance. We then assess the results of these simulated resections both qualitatively and quantitatively.

resultsVirtual fixture guidance is shown to improve resection margins. On average, users find the task to be less mentally demanding, frustrating, and effort intensive when haptic feedback is available. We also discovered some unanticipated impacts on surgical workflow that will guide design adjustments and training protocol moving forward.

conclusionOur results suggest that virtual fixtures can help localize tumor boundaries in simulated breast-conserving surgery. Future work will include an extensive user study to further validate these results and fine-tune our guidance system.

Indexed as

Breast NeoplasmsMastectomy, SegmentalRobotic Surgical ProceduresSurgery, Computer-AssistedUltrasonography, MammaryFemaleHumansMargins of ExcisionPilot ProjectsBreast-conserving surgeryCooperative roboticsHaptic feedbackUltrasoundVirtual fixture

Identifiers

PMID40186716

What OpenQuestion holds

Textmetadata
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Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.