MR Safe Robotic Systems for Breast Biopsy

A robotic needle manipulator for breast biopsy

Some lesions inside the breast can only be detected with MRI, not using mammography (x-ray) or ultrasound. A possible malignant lesion usually needs to be biopsied, but manual MRI-guided breast biopsy procedures are inaccurate and inefficient due to various reasons. A robotic needle manipulator could solve these problems.

The MR safety requirement severily restricts the use of metallic materials near the scanning volume, therefore we develop fully plastic, pneumatically-driven actuators which can be manufactured with rapid prototyping techniques. Five iterations have been developed so far: Stormram 1, 2, 3, 4 and Sunram 5. These are driven by pneumatic linear and curved stepper motors. Current research focuses on development of new generations of MR safe pneumatic actuators and robotic systems.

Click here for a movie about Stormram 4 and here for a movie about Sunram 5.

For a possible assignment please contact Francoise Siepel (f.j.siepel@utwente.nl) or Vincent Groenhuis (v.groenhuis@utwente.nl).

Stormram 1, 2, 3

Left to right: Stormram 1, 2 and 3.

 

Stormram 4 (left) and Sunram 5.

 

Associated assignments

"Robot, pick up the screws and put these in the orange box!" Bjørn de Vries
Modular ROS-Based Control and Motion Planning for MRI-Guided Breast Biopsy Jan Sampol Ramirez
Development and Control of Sunram/Mamri robot arm, motion compensation for liver biopsy Richard Gjaltema
Designing a DIY pneumatic robotic arm kit with a soft robotics end-effector that introduces students to robotics Max Vroomans
Design of an MRI-Safe 4-DOF Robotic Arm Using Inverse Kinematics and Optical Rotary Encoder-Controlled Pneumatic Stepper Motors Dillon Willems
Control of a pneumatically driven robot arm and the design of a modular motor controller Matthias Bac
Robotizing a manual MRI-guided prostate biopsy procedure Gijs Siebers
Intuitive control of the Sunram 7 biopsy robot with a 3D spatial mouse Thijs Vissers
Design and Development of a Haptic Feedback Controller for Enhanced Precision in MRI- guided Biopsies using the Sunram 7 Nick Kompagnie
Design of a user-friendly optical controller for the Sunram 7 with safety features to assist radiologists in MRI-guided breast biopsy Desiree Pietersma
Design of a user-friendly controller for the Sunram 7 with safety features to assist radiologists in MRI-guided breast biopsy Ivan Ooijevaar
Calibration and Open-Loop Control of Sunram 7: An MR Safe Robotic System for Breast Biopsy Marijn van Hilten
Control and Ex-Vivo evaluation of Sunram 7: An MR safe robotic system for breast biopsy Harsh Ranjan
Developing an MR safe calibration and interface module for pneumatic stepper motors Jamie Janbroers
Creating a universal, MR safe robotic platform for diverse medical MRI procedures Riccardo Sneep