A novel palm-shape breast deformation robot for MRI-guided biopsy

Tianxue Zhang, David Navarro Alarcon, Kwun Wang Ng, Man Kiu Chow, Yun Hui Liu, Hayley Louise Chung

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

10 Citations (Scopus)


Magnetic Resonance Imaging (MRI) presents better performance in breast imaging compared to computed tomography or ultrasound, however, its image quality critically depends on the stabilization of breast tissues during interventions. Conventionally, 2D compression plates for immobilization have been used by various researchers, however, not only do these plates cause anatomical distortion and patient discomfort, but it is difficult to advance the biopsy gun to certain area of the breast due to rigid immobilization. In this paper, we present a mechanism and initial result of a new breast deformation device for MRI-guided breast biopsy. This mechanism can immobilize the breast as well as actively deform the tissue into a desired configuration. The mechanism has multiple degrees-of-freedom actuated by a piezoelectric motor and multiple pneumatic bladders. The developed system, which is MRI-compatible, can be used and actuated inside the magnetic bore with the help of MR images. Preliminary experimental results are presented to verify the performance of the device.
Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Number of pages6
ISBN (Electronic)9781509043644
Publication statusPublished - 1 Jan 2016
Externally publishedYes
Event2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China
Duration: 3 Dec 20167 Dec 2016


Conference2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

ASJC Scopus subject areas

  • Hardware and Architecture
  • Artificial Intelligence
  • Control and Systems Engineering

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