Design and implementation of a new cable‐driven robot for MRI‐guided breast biopsy

• Published in: The international journal of medical robotics + computer assisted surgery Vol. 16; no. 2; pp. e2063 - n/a
• Main Authors: Liu, Wenxuan, Yang, Zhiyong, Jiang, Shan, Feng, Di, Zhang, Daguang
• Format: Journal Article
• Language: English
• Published: Chichester, UK John Wiley & Sons, Inc 01.04.2020; Wiley Subscription Services, Inc
• Subjects: Accuracy; Algorithms; Biomechanical Phenomena; Biopsy; Biopsy - methods; Breast; breast biopsy; Breast cancer; Breast Neoplasms - diagnostic imaging; Breast Neoplasms - surgery; cable transmission; Cancer; Equipment Design; Female; Humans; Image Processing, Computer-Assisted; Insertion; Magnetic materials; Magnetic Resonance Imaging; mechanism design; MRI robot; Object recognition; Phantoms, Imaging; Prone Position; Reproducibility of Results; Robotic Surgical Procedures - instrumentation; Robotic Surgical Procedures - methods; Robots; Trajectory planning; United States; United States; mechanism design; MRI robot; breast biopsy; trajectory planning; cable transmission
• ISSN: 1478-5951; 1478-596X
• DOI: 10.1002/rcs.2063

Background Breast cancer is one of the most common cancer diagnosed among US women. Early and accurate diagnosis using breast biopsy techniques is essential in detecting cancer. Methods In this paper, we present a new cable‐driven robot for MRI‐guided breast biopsy. A compact three degree‐of‐freedom (DOF) semi‐automated robot driven by ultrasonic motors is designed with non‐magnetic materials. Next, a novel insertion trajectory planning algorithm based on the breast holder that we created is proposed and designed, which can help radiologists locate the lesion and calculate the insertion trajectory. To improve the accuracy of insertion, kinematic analysis and accuracy compensation methods are introduced. Results An experimental study based on image recognition and positioning is performed to validate the performance of the new robot. The results show that the mean position accuracy is 0.7 ± 0.04 mm. Conclusions Application of the new robot can improve breast biopsy accuracy and reduce surgery time.