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

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    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
    Issue number2
    Publication statusPublished - 1 Jun 2017


    • Magnetic resonance imaging
    • Pneumatic Stepper Motor
    • Breast cancer


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