US Patent 10111625 Biopsy apparatus and operation method thereof

A position of a target designated based on a tomosynthesis image is identified as a first designated position. The first designated position is virtually projected to a radiation detector from two calibrated-stereotactic tube positions which have been calibrated into a tomosynthesis coordinate system so as to obtain two projection positions. The first designated position is converted into a second designated position in a stereotactic coordinate system based on stereotactic tube positions and the projection positions. A biopsy needle is inserted into a subject to be examined based on the second designated position. The biopsy needle is driven based on a biopsy coordinate system calibrated with respect to the stereotactic coordinate system.