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

Lu, Mingyue; Zhang, Yongde; Du, Haiyan

doi:10.1177/1729881420927853

Cited by 7 publications

(3 citation statements)

References 31 publications

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“…The experiment shows that the maximum error is 0.86 mm. Lu et al 44 developed a new MRI-guided breast intervention robot and conducted an in vitro model experiment. The robot positioning error is 0.37 mm.…”

Section: Development History and Basic Structure Of Breast Intervention Robotmentioning

confidence: 99%

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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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Section: Development History and Basic Structure Of Breast Intervention Robotmentioning

confidence: 99%

“…The non-magnetic structure and the 7-DOF compact Cartesian mechanism make it safe to run in the MRI scanner. Lu et al 44 use electromagnetic motors as the driving method. The motion control experiment is carried out, and the robot positioning error is 0.37 mm.…”

Section: Mri-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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“…Robots can assist doctors in completing breast ultrasound examinations, thus reducing the work intensity of doctors. Robots can accurately complete repetitive scanning operations to improve examination efficiency, standardize operation processes and reduce labor costs [10]- [12]. The robot for breast ultrasound examination requires high precision and efficiency to meet the scanning requirements.…”

Section: Introductionmentioning

confidence: 99%

Scanning Path Planning of the Robot for Breast Ultrasound Examination Based on Binocular Vision and NURBS

Zhang

et al. 2022

IEEE Access

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Ultrasonic scanning is the most commonly used method for detecting breast cancer. Traditional breast ultrasound mainly relies on manual examination, which requires doctors with rich clinical experience. The scanning path planning of the robot for breast ultrasound examination based on binocular vision and non-uniform rational B-Splines (NURBS) is proposed in this paper to solve the limitations of traditional examination methods. First, breast images are acquired by the binocular camera. The depth information of the images is obtained through stereo matching, and the 3D point cloud reconstruction of the breast model is completed. Second, the spatial index algorithm based on the K-dimension tree (Kd-tree) and uniform sampling method are selected to denoise and down-sample the point cloud model to complete the preliminary optimization of the model. The point cloud information for the scanning path is extracted according to the method of point cloud extraction and the principle of normal vector calculation. Then, the interpolation optimization of the scanning path based on the NURBS curve is completed. The optimized scanning path is transformed into the robot motion path. Finally, the robot motion is simulated and analyzed, and the experimental results show that the rationality of robot operation and the smoothness of robot motion meet the requirements of path planning defined in this paper. The error analysis experiment shows that the path planned by this method can ensure the efficiency and accuracy of ultrasound examination.INDEX TERMS Ultrasound examination, binocular vision, NURBS, scanning path planning, point cloud reconstruction, robot path planning.

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Evolution of Surgical Robot Systems Enhanced by Artificial Intelligence: A Review

Liu,

Wu,

Sang

et al. 2024

Advanced Intelligent Systems

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Surgical robot systems (SRS) represent an innovative cross‐disciplinary research field using robotic technology to assist surgeons in operations. Current bottlenecks in SRS, such as the limited ability to process complex information and make surgical decisions, have not been effectively solved. Artificial intelligence (AI) is a valuable technique for simulating and extending human intelligence. AI offers a new direction and impetus for SRS by enhancing performance in areas such as perception, navigation, surgical planning, and control strategies. This review introduces the developmental history of AI‐aided SRS, summarizes the basic SRS architecture, and analyzes how AI can improve SRS performance. Classical cases of AI‐aided SRS, the impact of evidence in clinical settings, and associated ethical and legal considerations are explored. Finally, the challenges in AI‐aided SRS are discussed, including algorithm development, surgical data science, human–robot coordination, and trust building between humans and robots.

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

Cited by 7 publications

References 31 publications

Breast intervention surgery robot under image navigation: A review

Breast intervention surgery robot under image navigation: A review

Scanning Path Planning of the Robot for Breast Ultrasound Examination Based on Binocular Vision and NURBS

Evolution of Surgical Robot Systems Enhanced by Artificial Intelligence: A Review

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