Preliminary Study of Computer Aided Diagnosis Methodology for Modeling and Visualization the Respiratory Deformations of the Breast Surface

Minimally invasive therapy of breast cancer is an important issue in modern medicine. This paper presents a methodology which allows acquisition of breast respiratory motion. The proposed methodology consists of: stereo camera, Time-of-Flight camera and ultrasound machine. All devices were calibrated to allows data acquisition and breast surface reconstruction in common coordinate system. The proposed me- thodology obtains the median Fiducial Registration Error of Time-of-Flight and stereo vision of 7.44 mm for inhale and 8.74 mm for exhale surfaces rigid registration. The average amplitude for the breast movement was for the markers and clouds of surface points of 3.34 and 3.81 mm, respectively. The obtained amplitude values for both tracked markers and breast surface points are comparable, which allows us to positively verify the method based on the Time-of-Flight camera as a non-invasive method of measuring movements of the breast surface. The obtained values indicate that the breathing motion factor cannot be neglected during modeling of deformation of the breast surface.