Abstract
In this letter, we present the design and development of a new robotic system for MRI-guided breast biopsy. The robot's structure is nonmagnetic, therefore, it can safely operate from within the scanner's magnetic bore; it has a compact Cartesian mechanism that allows it perform needle insertion tasks from both frontal and lateral directions inside an open bore scanner. A combination of piezoelectric and pneumatic actuators drive the motion of the proposed three degrees-of-freedom robot. To control the needle's insertion, we present an adaptive position regulator that uses the feedback from multiple sensors and that is robust to external disturbances. A detailed experimental study is presented to validate the performance and magnetic properties of the new mechanical prototype.
| Original language | English |
|---|---|
| Article number | 7872447 |
| Pages (from-to) | 1648-1655 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 2 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - Jul 2017 |
| Externally published | Yes |
Keywords
- Breast biopsy
- mechanism design
- medical robots and systems
- motion control
- MRI robotics
ASJC Scopus subject areas
- Control and Systems Engineering
- Biomedical Engineering
- Human-Computer Interaction
- Mechanical Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Control and Optimization
- Artificial Intelligence