Breast cancer, one of the most dangerous diseases, poses a significant risk to the patient if left untreated. One of the methods for breast cancer screening and diagnosis is MRI guided breast biopsy. Since manual systems lack in accuracy and efficiency, and the procedure time required for MRI based biopsy is very high, a set of robotic systems were developed to perform MR safe robot-assisted biopsy.
The current SUNRAM 5 robot, the 5th robot of the series, is a 5 DOF system including a breast fixation system, an emergency needle ejection mechanism, and fast and precise needle insertion under near real-time MRI guidance. The robot has been programmed to operate to target dye stained PVC blocks (mimicking lesions) in breast phantoms inside a 0.25T MRI scanner. Evaluation of the system was performed in air and inside the MRI environment.
Additionally, a full clinical biopsy procedure workflow was developed using the SUNRAM 5 and an easy to operate user interface. The robot achieved submillimeter accuracy and precision in targeting the targets in the air. MRI based evaluation was successful with an average accuracy of about 2mm in any given direction. A full clinical biopsy workflow was tested in using a simple-to-use app and the average procedure time (excluding time taken for the 2 MRI scans) was recorded to be about 3 minutes.
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