Controlling the Stormram 2: An MRI-compatible Robotic System for Breast Biopsy

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    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 languageEnglish
    Title of host publication2017 IEEE International Conference on Robotics and Automation (ICRA)
    PublisherIEEE
    Pages1746
    Number of pages8
    ISBN (Electronic)978-1-5090-4633-1
    ISBN (Print)978-1-5090-4634-8
    DOIs
    Publication statusPublished - 29 May 2017
    Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017: Innovation, Entrepreneurship, and Real-world Solutions - Singapore, Singapore
    Duration: 29 May 20173 Jun 2017
    http://www.icra2017.org/

    Conference

    Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
    Abbreviated titleICRA 2017
    CountrySingapore
    CitySingapore
    Period29/05/173/06/17
    Internet address

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    Cite this

    Abdelaziz, M. E. M. K., Groenhuis, V., Veltman, J., Siepel, F. J., & Stramigioli, S. (2017). Controlling the Stormram 2: An MRI-compatible Robotic System for Breast Biopsy. In 2017 IEEE International Conference on Robotics and Automation (ICRA) (pp. 1746). IEEE. https://doi.org/10.1109/ICRA.2017.7989206