Structure Design and Analysis of a Compact Breast Biopsy Robot under MRI Environment

Abstract

Because of its excellent image quality, magnetic resonance imaging (MRI), as a new means of image guidance for breast biopsy robot, is used widely in clinical diagnostics and advanced breast research. However, the robot for MRI-guided biopsy is challenging due to the compatibility caused by strong magnetic field and very limited available space inside MR scanner. In this paper, a five degrees of freedom (DOF) robot is presented to perform biopsy in the breast with MRI guidance for the early detection of breast cancer. In an MR scanner (1.5T), the compatibility of copper, A4 non-magnetic stainless steel and POM, nylon, teflon is tested, and analyze the influence on the image of water model. Based on the analysis of available space, a 5 DOF robot which consists of 3-DOF Cartesian motions, 1-DOF rotation and 1-DOF insertion is designed, and the statics analysis of the robot is simulated using ANSYS. The results of statics analysis demonstrate that the robot meet the requirement of stiffness and precision.