Design, analysis and control of a novel tendon-driven magnetic resonance–guided robotic system for minimally invasive breast surgery

Abstract

Biopsy and brachytherapy for small core breast cancer are always difficult medical problems in the field of cancer treatment. This research mainly develops a magnetic resonance imaging-guided high-precision robotic system for breast puncture treatment. First, a 5-degree-of-freedom tendon-based surgical robotic system is introduced in detail. What follows are the kinematic analysis and dynamical modeling of the robotic system, where a mathematic dynamic model is established using the Lagrange method and a lumped parameter tendon model is used to identify the nonlinear gain of the tendon-sheath transmission system. Based on the dynamical models, an adaptive proportional-integral-derivative controller with friction compensation is proposed for accurate position control. Through simulations using different sinusoidal input signals, we observe that the sinusoidal tracking error at 1/2π Hz is 0.41 mm. Finally, the experiments on tendon-sheath transmission and needle insertion performance are conducted, which show that the insertion precision is 0.68 mm in laboratory environment.

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

“…A horizontal camera and a vertical camera are used to obtain the real‐time images, which can then be converted into pixel value data. To conduct the experiment, a hemispherical transparent breast phantom made of polyvinyl alcohol (PVA) hydrogel, which is similar to breast tissue in microstructure, is used to imitate the breast tissue. In addition, a marble with a diameter of 2 mm is used to imitate the target lesion, which is embedded in the breast phantom (the target area).…”

“…This process is time consuming and expensive, and the patient suffers from repeated insertions. In addition, position deviation can lead to a low accuracy of needle insertion …”

“…Robotic‐assisted minimally invasive surgery (MIS) has become popular in recent years and can easily overcome the disadvantages of traditional breast biopsy. In addition, robotic systems can increase the accuracy and safety of the insertion process and avoid the position deviation that arises due to manual operation by radiologists . Therefore, a new MRI‐guided robotic system for breast biopsy that can at least partially automate the insertion process is highly desirable.…”

“…In addition, position deviation can lead to a low accuracy of needle insertion. 9 Robotics technology has developed rapidly. Robotic-assisted minimally invasive surgery (MIS) has become popular in recent years and can easily overcome the disadvantages of traditional breast biopsy.…”

Hybrid trajectory/force control strategy for the in vivo robot during stomach biopsy

“…An attempt has been made by Deacon et al [1], to replace the conventional stereotactic frame used in neurosurgery with an image-guided surgical robot. A kinematic and dynamic analysis of magnetic resonance imagingguided high precision robotic system has been performed by Jiang et al [2].…”