Robot-assisted MRI-guided breast biopsies require highly accurate robotic systems that function safely within strong magnetic fields. Conventional electromagnetic actuators and sensors are unsuitable due to interference and safety concerns. This presentation will showcase the design and validation of an MRI-safe, four-degree-of-freedom robotic arm, actuated by pneumatic stepper motors with integrated 3D-printed optical rotary encoders for precise position feedback while maintaining MRI compatibility.
The system supports inverse kinematics, optical homing, and collision detection, and has been tested for torque output and step accuracy, demonstrating performance comparable to baseline motors. Evaluation in an MRI environment confirmed that encoder integration improves motion reliability, paving the way for more accurate, robot-assisted MRI-guided interventions.
Join us to learn about the development process, technical challenges, and the future potential of MRI-safe robotic systems in precision-guided biopsies.