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Erschienen in:
2013 | OriginalPaper | Buchkapitel
Towards the Development of a Master-Slave Surgical System for Breast Biopsy under Continuous MRI
verfasst von : Bo Yang, U-Xuan Tan, Alan McMillan, Rao Gullapalli, Jaydev P. Desai
Erschienen in: Experimental Robotics
Verlag: Springer International Publishing
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Magnetic Resonance Imaging (MRI) provides superior soft-tissue contrast. But the strong magnetic field inside theMRI bore and the limited scanner bore size restricts direct means of breast biopsy under real-time imaging. Current blind targeting approach based on MR images obtained a priori sometimes requires multiple needle insertions if the tool tip position is compromised. A MRI-compatible robot that can be teleoperated is thus desired to take advantage of the real-time MR imaging and avoid multiple needle insertions. In this paper, we present our initial work on the development of a master-slave surgical system. The MRI-compatible slave robot is actuated with five pneumatic cylinders and one piezo motor and operates inside the MRI bore. The master robot provides an intuitive manipulation platform for the physician. The MRI experiment shows that the slave robot does not induce visually-detectable distortion in the MR images and can be safely operated inside the MRI.