Design and characterization of Stormram 4: an MRI-compatible robotic system for breast biopsy

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    Abstract

    Targeting of small lesions with high precision is essential in an early phase of breast cancer for diagnosis and accurate follow up, and subsequently determines prognosis. Current techniques to diagnose breast cancer are suboptimal, and there is a need for a small, MRI-compatible robotic system able to target lesions with high precision and direct feedback of MRI. Therefore, the design and working mechanism of the new Stormram 4, an MRI-compatible needle manipulator with four degrees of freedom, will be presented to take biopsies of small lesions in the MRI scanner. Its dimensions (excludign racks and needle) are 72x51x40 mm, and the system is driven by two linear and two curved pneumatic stepper motors. The T-26 linear motor measures 26x21x16 mm, has a step size of 0.25 mm and can exert 63 N at 0.65 MPa. The workspace has a total volume of 2.2 L.

    Accuracy measurements have shown that the mean positioning error is \SI{0.7}{\mm}, with a reproducibility of \SI{0.1}{\mm}. Consequently, these preliminary results show that the robot might be able to target millimeter-sized lesions for the MRI-guided breast biopsy procedure.
    Original languageEnglish
    Title of host publication2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    PublisherIEEE
    Pages928-933
    Number of pages6
    ISBN (Electronic)978-1-5386-2682-5
    ISBN (Print)978-1-5386-2683-2
    DOIs
    Publication statusPublished - 24 Sep 2017
    EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017: Friendly People, Friendly Robots - Vancouver, Canada
    Duration: 24 Sep 201728 Sep 2017
    http://iros2017.org/
    https://www.iros2017.org/

    Conference

    ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
    Abbreviated titleIROS 2017
    CountryCanada
    CityVancouver
    Period24/09/1728/09/17
    Internet address

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