Authors: Samuel Byeongjun Park JungGun Kim KiWoong Lim ChaeHyun Yoon DongJun Kim HanSung Kang YungHo Jo
Publish Date: 2017/02/06
Volume: 12, Issue: 8, Pages: 1319-1331
Abstract
We developed an imageguided intervention robot system that can be operated in a magnetic resonance MR imaging gantry The system incorporates a bendable needle intervention robot for breast cancer patients that overcomes the space limitations of the MR gantryMost breast coil designs for breast MR imaging have side openings to allow manual localization However for many intervention procedures the patient must be removed from the gantry A robotic manipulation system with integrated image guidance software was developed Our robotic manipulator was designed to be slim so as to fit between the patient’s side and the MR gantry wall Only nonmagnetic materials were used and an electromagnetic shield was employed for cables and circuits The image guidance software was built using open source libraries In situ feasibility tests were performed in a 3T MR system One target point in the breast phantom was chosen by the clinician for each experiment and our robot moved the needle close to the target pointWithout imageguided feedback control the needle end could not hit the target point distance = 5 mm in the first experiment Using our robotic system the needle hits the target lesion of the breast phantom at a distance of 23 mm from the same target point using imageguided feedback The second experiment was performed using other target points and the distance between the final needle end point and the target point was 08 mm
Keywords: