{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,29]],"date-time":"2026-08-29T16:12:41Z","timestamp":1788019961561,"version":"build-2784847793"},"reference-count":73,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2022,4,7]],"date-time":"2022-04-07T00:00:00Z","timestamp":1649289600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":["aapm.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Medical Physics"],"published-print":{"date-parts":[[2022,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:sec><jats:title>Background<\/jats:title><jats:p>Mammographic screening has reduced mortality in women through the early detection of breast cancer. However, the sensitivity for breast cancer detection is significantly reduced in women with dense breasts, in addition to being an independent risk factor. Ultrasound (US) has been proven effective in detecting small, early\u2010stage, and invasive cancers in women with dense breasts.<\/jats:p><\/jats:sec><jats:sec><jats:title>Purpose<\/jats:title><jats:p>To develop an alternative, versatile, and cost\u2010effective spatially tracked three\u2010dimensional (3D) US system for whole\u2010breast imaging. This paper describes the design, development, and validation of the spatially tracked 3DUS system, including its components for spatial tracking, multi\u2010image registration and fusion, feasibility for whole\u2010breast 3DUS imaging and multi\u2010planar visualization in tissue\u2010mimicking phantoms, and a proof\u2010of\u2010concept healthy volunteer study.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>The spatially tracked 3DUS system contains (a) a six\u2010axis manipulator and counterbalanced stabilizer, (b) an in\u2010house quick\u2010release 3DUS scanner, adaptable to any commercially available US system, and removable, allowing for handheld 3DUS acquisition and two\u2010dimensional US imaging, and (c) custom software for 3D tracking, 3DUS reconstruction, visualization, and spatial\u2010based multi\u2010image registration and fusion of 3DUS images for whole\u2010breast imaging. Spatial tracking of the 3D position and orientation of the system and its joints (J<jats:sub>1\u20136<\/jats:sub>) were evaluated in a clinically accessible workspace for bedside point\u2010of\u2010care (POC) imaging. Multi\u2010image registration and fusion of acquired 3DUS images were assessed with a quadrants\u2010based protocol in tissue\u2010mimicking phantoms and the target registration error (TRE) was quantified. Whole\u2010breast 3DUS imaging and multi\u2010planar visualization were evaluated with a tissue\u2010mimicking breast phantom. Feasibility for spatially tracked whole\u2010breast 3DUS imaging was assessed in a proof\u2010of\u2010concept healthy male and female volunteer study.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>Mean tracking errors were 0.87 \u00b1 0.52, 0.70 \u00b1 0.46, 0.53 \u00b1 0.48, 0.34 \u00b1 0.32, 0.43 \u00b1 0.28, and 0.78 \u00b1 0.54\u00a0mm for joints J<jats:sub>1\u20136<\/jats:sub>, respectively. Lookup table (LUT) corrections minimized the error in joints J<jats:sub>1<\/jats:sub>, J<jats:sub>2<\/jats:sub>, and J<jats:sub>5<\/jats:sub>. Compound motions exercising all joints simultaneously resulted in a mean tracking error of 1.08 \u00b1 0.88\u00a0mm (<jats:italic>N<\/jats:italic>\u00a0=\u00a020) within the overall workspace for bedside 3DUS imaging. Multi\u2010image registration and fusion of two acquired 3DUS images resulted in a mean TRE of 1.28 \u00b1 0.10\u00a0mm. Whole\u2010breast 3DUS imaging and multi\u2010planar visualization in axial, sagittal, and coronal views were demonstrated with the tissue\u2010mimicking breast phantom. The feasibility of the whole\u2010breast 3DUS approach was demonstrated in healthy male and female volunteers. In the male volunteer, the high\u2010resolution whole\u2010breast 3DUS acquisition protocol was optimized without the added complexities of curvature and tissue deformations. With small post\u2010acquisition corrections for motion, whole\u2010breast 3DUS imaging was performed on the healthy female volunteer showing relevant anatomical structures and details.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusions<\/jats:title><jats:p>Our spatially tracked 3DUS system shows potential utility as an alternative, accurate, and feasible whole\u2010breast approach with the capability for bedside POC imaging. Future work is focused on reducing misregistration errors due to motion and tissue deformations, to develop a robust spatially tracked whole\u2010breast 3DUS acquisition protocol, then exploring its clinical utility for screening high\u2010risk women with dense breasts.<\/jats:p><\/jats:sec>","DOI":"10.1002\/mp.15632","type":"journal-article","created":{"date-parts":[[2022,3,23]],"date-time":"2022-03-23T10:53:46Z","timestamp":1648032826000},"page":"3944-3962","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Spatially tracked whole\u2010breast three\u2010dimensional ultrasound system toward point\u2010of\u2010care breast cancer screening in high\u2010risk women with dense breasts"],"prefix":"10.1002","volume":"49","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7603-0340","authenticated-orcid":false,"given":"Claire Keun Sun","family":"Park","sequence":"first","affiliation":[{"name":"Department of Medical 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