TY - JOUR
T1 - Developing a Compact Robotic Needle Driver for MRI-Guided Breast Biopsy in Tight Environments
AU - Navarro-Alarcon, David
AU - Singh, Satwinder
AU - Zhang, Tianxue
AU - Chung, Hayley Louise
AU - Ng, Kwun Wang
AU - Chow, Man Kiu
AU - Liu, Yunhui
PY - 2017/7
Y1 - 2017/7
N2 - 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.
AB - 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.
U2 - 10.1109/LRA.2017.2678542
DO - 10.1109/LRA.2017.2678542
M3 - Journal article
SN - 2377-3766
VL - 2
SP - 1648
EP - 1655
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 3
ER -