Abstract
Breast cancer is the most frequently life-threatening diagnosed type of cancer among women. Early and accurate diagnosis by acquiring a tissue sample using biopsy techniques is essential. However, small lesions only visible by MRI are often missed in standard methods, indicating the need for a robotic-assisted biopsy system that is MRI-compatible. Existing proof-of-concepts are difficult to employ due to large sizes and/or actuation complexities. Therefore, a compact pneumatically-actuated 5 DOF MRI-compatible robot was further developed and controlled by a computerized valve manifold. Accuracy and efficiency measurements have been performed using two different PVC breast phantoms with embedded fish oil capsules (mimicking lesions) inside a 0.25T MRI scanner. Preliminary results show that the end-effector was able to hit the targeted capsules, and that the position accuracy is in the range of 4.7-7.3 mm. The developed robotic system has potential to perform MRI-guided breast biopsies accurately and improve the clinical workflow.
Original language | English |
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Title of host publication | 2017 IEEE International Conference on Robotics and Automation (ICRA) |
Publisher | IEEE |
Pages | 1746 |
Number of pages | 8 |
ISBN (Electronic) | 978-1-5090-4633-1 |
ISBN (Print) | 978-1-5090-4634-8 |
DOIs | |
Publication status | Published - 29 May 2017 |
Event | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017: Innovation, Entrepreneurship, and Real-world Solutions - Singapore, Singapore Duration: 29 May 2017 → 3 Jun 2017 http://www.icra2017.org/ |
Conference
Conference | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 |
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Abbreviated title | ICRA 2017 |
Country/Territory | Singapore |
City | Singapore |
Period | 29/05/17 → 3/06/17 |
Internet address |