A needle insertion concept and robot system for breast tumor

Zhao, Honghua; Liu, Tao; Chen, Mianpeng; Tian, Qianqian; Li, Zhiping; Cao, Shukun; Ai, Changsheng

doi:10.1109/icma.2016.7558681

Cited by 4 publications

(3 citation statements)

References 9 publications

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“…The overall dimension of the device in an MRI scanner is shown in Figure 2(a). The working envelope to be reached by the robot should cover the volume of the breast, that is, the rectangular space with a size of 150 Â 330 Â 100 mm 3 , as shown in Figure 2(b). The dimensions comparison of the system in an actual case is presented in Table 1.…”

Section: Dimension Designmentioning

confidence: 99%

“…2 If breast cancer is detected at the beginning stage, patients can often be cured. 3,4 As an early detection method, a breast biopsy extracts and analyses sample tissues by inserting a needle into the suspicious areas under the guidance of images, which is used to confirm whether the tissue is cancerous or not. The magnetic resonance imaging (MRI) technique can present a better performance in soft tissues than an ultrasound, computed tomography, and mammography.…”

Section: Introductionmentioning

confidence: 99%

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Design and control of a novel magnetic resonance imaging-compatible breast intervention robot

Zhang

2020

International Journal of Advanced Robotic Systems

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Breast cancer is one of the most frequent cancers and a major cause of cancer death in women. In this article, the design and control of a novel magnetic resonance imaging-compatible breast intervention robot are proposed. The dimensions and tolerance of the robot system are considered, and a novel pitching mechanism is designed to achieve a dexterous operation in the limited space. The magnetic resonance imaging compatibility of the robot materials is tested. The nonmagnetic structure and compact Cartesian mechanism of the robot allow it to operate safely in a magnetic resonance imaging scanner. According to the robot’s structure, a kinematics analysis based on a coupled motions model is established. The workspace simulation analysis of the robot proves that it is suitable for the whole breast surgery. To control the needle insertion tasks, the overall control system in the form of “personal computer (PC) + single-chip micyoco (SCM)” is designed. Finally, the motion control experiment is carried out, and the robot positioning error is 0.37 mm, which proves that the breast intervention robot and its control system designed in this article can meet the requirements of breast intervention.

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Section: Dimension Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and control of a novel magnetic resonance imaging-compatible breast intervention robot

Zhang

2020

International Journal of Advanced Robotic Systems

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“…The control system coordinates the ultrasound imaging system and the robot system in an effective way. Chen et al 81 and Zhao et al 82 designed a preloading technique to control the tumor position in real time. Welleweerd et al 83 designed an ultrasound-guided end-effector.…”

Section: Introduction To Ultrasound-guided Breast Intervention Robotmentioning

confidence: 99%

Breast intervention surgery robot under image navigation: A review

Zhang

et al. 2021

Advances in Mechanical Engineering

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In recent years, breast cancer incidence has increased year by year, which makes research on treatment methods critical. Intervention surgery is a new development in breast cancer treatment. However, the operation is complicated and lasts for a long time. The doctor’s operation can no longer meet clinical needs. The breast intervention robot has the characteristics of minimal invasiveness, operability, and high flexibility so that it can compensate for the shortcomings of traditional interventional surgery. The combination of the robotic system and medical imaging technology is an important means to determine the lesion location and plan the puncture path. This article mainly reviews the breast intervention robot under image navigation. Based on existing literature, image navigation methods are divided into MRI, ultrasound, and CT for the introduction. First, we summarized the principles and technologies associated with materials, sensors, and actuators used in the MRI-guided breast intervention robot. In particular, the actuation is analyzed and compared in detail. Subsequently, the ultrasound-guided and CT-guided breast intervention robots are introduced. After that, we discuss the image-guided positioning technology. Finally, we summarize the research progress and trends in the future development of breast intervention robots under image navigation.

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Virtual reality support system for hyperthermia treatment

Shindo

Kato

2019

IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society

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A needle insertion concept and robot system for breast tumor

Cited by 4 publications

References 9 publications

Design and control of a novel magnetic resonance imaging-compatible breast intervention robot

Design and control of a novel magnetic resonance imaging-compatible breast intervention robot

Breast intervention surgery robot under image navigation: A review

Virtual reality support system for hyperthermia treatment

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