Stormram 3: A Magnetic Resonance Imaging-Compatible Robotic System for Breast Biopsy

Vincent Groenhuis (Corresponding Author), Jeroen Veltman, Françoise Jeanette Siepel, Stefano Stramigioli

    Research output: Contribution to journalSpecial issueAcademicpeer-review

    8 Citations (Scopus)
    228 Downloads (Pure)

    Abstract

    Stormram 3 is an MRI-compatible robotic system that can perform MR guided breast biopsies of suspicious lesions. The base of the robot measures 160x180x90 mm and it is actuated by five custom pneumatic linear stepper motors, driven by a valve manifold outside the Faraday cage of the MRI scanner. All parts can be rapidly prototyped with 3-D printing or laser-cutting, making the design suitable for other applications such as actuation in hazardous environments. Based on the choice of materials, the robot (with the exception of the needle) is inherently MR-safe. Measurements show that the maximum force of the T-49 actuator is 70 N, at a pressure of 0.3 MPa. The Stormram 3 has an optimized repeatability which is lower than 0.5 mm, and can achieve a positional accuracy in the order of 2 mm.
    Original languageEnglish
    Article number2
    Pages (from-to)34-41
    Number of pages8
    JournalIEEE robotics & automation magazine
    Volume24
    Issue number2
    DOIs
    Publication statusPublished - 1 Jun 2017

    Fingerprint

    Biopsy
    Magnetic resonance imaging
    Robotics
    Robots
    Linear motors
    Needles
    Pneumatics
    Printing
    Actuators
    Lasers
    Magnetic Resonance Imaging

    Keywords

    • Magnetic resonance imaging
    • Pneumatic Stepper Motor
    • Breast cancer

    Cite this

    @article{dee4923f8b4f4634974a70d32cf313b8,
    title = "Stormram 3: A Magnetic Resonance Imaging-Compatible Robotic System for Breast Biopsy",
    abstract = "Stormram 3 is an MRI-compatible robotic system that can perform MR guided breast biopsies of suspicious lesions. The base of the robot measures 160x180x90 mm and it is actuated by five custom pneumatic linear stepper motors, driven by a valve manifold outside the Faraday cage of the MRI scanner. All parts can be rapidly prototyped with 3-D printing or laser-cutting, making the design suitable for other applications such as actuation in hazardous environments. Based on the choice of materials, the robot (with the exception of the needle) is inherently MR-safe. Measurements show that the maximum force of the T-49 actuator is 70 N, at a pressure of 0.3 MPa. The Stormram 3 has an optimized repeatability which is lower than 0.5 mm, and can achieve a positional accuracy in the order of 2 mm.",
    keywords = "Magnetic resonance imaging, Pneumatic Stepper Motor, Breast cancer",
    author = "Vincent Groenhuis and Jeroen Veltman and Siepel, {Fran{\cc}oise Jeanette} and Stefano Stramigioli",
    note = "Special Issue on Surgical Robot Challenge",
    year = "2017",
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    day = "1",
    doi = "10.1109/MRA.2017.2680541",
    language = "English",
    volume = "24",
    pages = "34--41",
    journal = "IEEE robotics & automation magazine",
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    Stormram 3: A Magnetic Resonance Imaging-Compatible Robotic System for Breast Biopsy. / Groenhuis, Vincent (Corresponding Author); Veltman, Jeroen ; Siepel, Françoise Jeanette; Stramigioli, Stefano .

    In: IEEE robotics & automation magazine, Vol. 24, No. 2, 2, 01.06.2017, p. 34-41.

    Research output: Contribution to journalSpecial issueAcademicpeer-review

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    T1 - Stormram 3: A Magnetic Resonance Imaging-Compatible Robotic System for Breast Biopsy

    AU - Groenhuis, Vincent

    AU - Veltman, Jeroen

    AU - Siepel, Françoise Jeanette

    AU - Stramigioli, Stefano

    N1 - Special Issue on Surgical Robot Challenge

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    AB - Stormram 3 is an MRI-compatible robotic system that can perform MR guided breast biopsies of suspicious lesions. The base of the robot measures 160x180x90 mm and it is actuated by five custom pneumatic linear stepper motors, driven by a valve manifold outside the Faraday cage of the MRI scanner. All parts can be rapidly prototyped with 3-D printing or laser-cutting, making the design suitable for other applications such as actuation in hazardous environments. Based on the choice of materials, the robot (with the exception of the needle) is inherently MR-safe. Measurements show that the maximum force of the T-49 actuator is 70 N, at a pressure of 0.3 MPa. The Stormram 3 has an optimized repeatability which is lower than 0.5 mm, and can achieve a positional accuracy in the order of 2 mm.

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    KW - Pneumatic Stepper Motor

    KW - Breast cancer

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