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

Liu, Wenxuan; Yang, Zhiyong; Jiang, Shan; Feng, Dan; Zhang, Daguang

doi:10.1002/rcs.2063

Cited by 18 publications

(10 citation statements)

References 34 publications

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“…The encoder with high resolution can better ensure the puncture accuracy. Liu et al 43 used an optical fiber encoder to obtain the angular displacement information of the robot’s rotational degrees of freedom. The data is transmitted to the control system, which contributes to the error compensation.…”

Section: Mri-guided Breast Intervention Robotmentioning

confidence: 99%

“…Because the piezo-ultrasonic actuation is placed outside the MRI equipment, the robot structure can be designed more compact, which helps the robot to adapt to the narrow workspace. An MRI-guided breast biopsy robot was introduced by Liu et al 43 The robot is designed as a 3-DOF compact robot, which is driven by piezo-ultrasonic motor through cable transmission. In the research on the transmission method of minimally invasive surgical robots, the tendon transmission gets more attention.…”

Section: Mri-guided Breast Intervention Robotmentioning

confidence: 99%

See 1 more Smart Citation

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: Mri-guided Breast Intervention Robotmentioning

confidence: 99%

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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“…6 Liu et al proposed a new cable-driven robot for MRI-guided breast biopsy. 7 The robot is a compact three-DOF semi-automatic robot driven by an ultrasonic motor. Chan et al designed an image-guided breast biopsy robot.…”

Section: Related Workmentioning

confidence: 99%

“…Yang et al developed a pneumatically driven robot to perform breast biopsy under magnetic resonance imaging (MRI) and achieved a slow and smooth movement 6 . Liu et al proposed a new cable‐driven robot for MRI‐guided breast biopsy 7 . The robot is a compact three‐DOF semi‐automatic robot driven by an ultrasonic motor.…”

Section: Introductionmentioning

confidence: 99%

Design and control of a bionic needle puncture robot

Zhang

Liu

2020

Robotics Computer Surgery

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Background The application of minimally invasive interventional breast surgery is becoming more and more widespread. The accurate puncture of breast cancer needs to solve the problems of tissue deformation and target displacement. Methods In this study, we analysed the process of leech blood absorption and developed a robotic needle insertion method based on bionic technology to improve the accuracy of breast cancer diagnosis and treatment. Among them, the design purpose of the sucker manipulator is to adjust and fix the breast tissue. We use uncalibrated visual servo to control soft tissue deformation. Results We compare the puncture effect of bionic needle puncture robot and common needle puncture on breast prosthesis and in vitro tissue. Experimental data shows that, compared with ordinary needle insertion, the robotic needle insertion method based on bionic technology greatly reduces the targeting error. Conclusions This method is expected to provide a safe and effective alternative to traditional puncture for breast cancer diagnosis and treatment.

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“…7. Liu et al[58] applied a cable transmission system actuated by ultrasonic motors to a robotic system and developed a robotic prototype manufactured with nylon to meet the MRI compatibility requirements.…”

mentioning

confidence: 99%

A Review of Application and Development Trends in Ultrasonic Motors

Li¹,

Wen²,

Jia³

et al. 2020

ES Mater. Manuf.

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The structure and performance of ultrasonic motors have gradually improved with the emergence of new materials, techniques, and structural forms. Therefore, the application scope of this technology is also expanding, especially in the field of high-end equipment. This paper conducts a review of research on the application status and progress at the frontier of research on ultrasonic motors. A summary and classification of both the status of application and cutting-edge research progress are presented, including the use of ultrasonic motors in aerospace, precision, biomedical and optical engineering and the influence on ultrasonic motor design resulting from the breakthrough in advanced processing and preparation technology, structural and functional integration technology, low voltage drives and open-loop control systems. Moreover, the performance of products developed with the aid of ultrasonic motors and representative devices are compared; and state of the art ultrasonic motor designs are discussed and summarized. Finally, potential future research efforts and prospects are highlighted.

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

Cited by 18 publications

References 34 publications

Breast intervention surgery robot under image navigation: A review

Breast intervention surgery robot under image navigation: A review

Design and control of a bionic needle puncture robot

A Review of Application and Development Trends in Ultrasonic Motors

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