Design and characterization of Stormram 4: An MRI-compatible robotic system for breast biopsy

Groenhuis, Vincent; Siepel, Françoise J.; Veltman, Jeroen

doi:10.1109/iros.2017.8202256

Cited by 21 publications

(18 citation statements)

References 9 publications

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“…Besides the motors presented in this paper, two other novel motors that meet the stated requirements are published by the same authors [20]. The T-26 is a further miniaturized version of the T-63 presented in this paper, while the C-30 is a curved stepper motor similar to the T-26 but in which the rack is curved to make a rotational motion.…”

Section: A State Of the Artmentioning

confidence: 99%

Rapid Prototyping High-Performance MR Safe Pneumatic Stepper Motors

Groenhuis

2018

IEEE/ASME Trans. Mechatron.

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In this paper we show that MR safe pneumatic stepper motors can be constructed using rapid prototyping techniques such as 3-D printing and laser-cutting. The designs are lightweight, metal-free and fully customizable. Besides MR safe robotic systems, other potential applications include high-voltage switchgear and nuclear power plant systems which also restrict electric actuation. In addition, it can be applied to other actuation systems where pressurized air is available and lightweight, rapid prototypeable actuators are needed. Five pneumatically-driven linear and rotational stepper motors have been developed with forces up to 330 N, torques up to 3.7 N m, stepping frequency up to 320 Hz, dimensions ranging from 25 mm to 80 mm, free of backlash and power up to 26 W. All five motors are constructed from six 3-D printed parts and four seals, held together by nylon screws or clips. The described stepper motors outperform state-of-the-art plastic pneumatic stepper motor designs, both in specifications and in manufacturability.

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Section: A State Of the Artmentioning

confidence: 99%

Rapid Prototyping High-Performance MR Safe Pneumatic Stepper Motors

Groenhuis

2018

IEEE/ASME Trans. Mechatron.

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“…Pneumatic stepper motors have been proved an effective actuation method in several state-of-art robotic systems [1,2] . These systems are limited in bandwidth as 5 m long pneumatic tubes are needed between the valve manifold and the robotic system.…”

Section: Introductionmentioning

confidence: 99%

“…The Stormram 4 needs approximately one minute to move from one position to another considering an axis of 640 steps. Higher velocities are desirable for practical applications [2] .…”

Section: Introductionmentioning

confidence: 99%

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Sunram 5: An MR Safe Robotic System for Breast Biopsy

Groenhuis¹,

Siepel²,

Welleweerd³

et al. 2018

The Hamlyn Symposium on Medical Robotics

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“…Besides the motors presented in this paper, two other novel motors that meet the stated requirements are published by the same authors [50]. The T-26 is a further miniaturized version of the T-63 presented in this paper, while the C-30 is a curved stepper motor similar to the T-26 but in which the rack is curved to make a rotational motion.…”

Section: State Of the Artmentioning

confidence: 99%

Robotic systems for breast biopsy using MRI and ultrasound imaging

Groenhuis¹

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In breast cancer screening the radiologist searches for suspicious lesions inside the breast. If the lesion is only visible on MRI then it is difficult to precisely target it for a biopsy. The current manual procedure is inaccurate and inefficient, so research has been done to develop suitable alternatives using robotics. Two different robotic system projects have been conducted to tackle the clinical challenge: the MURAB project and the Stormram project.The MURAB project combines different imaging modalities including MRI, ultrasound, elastography and stereo vision to create a detailed patient-specific model for the biopsy. The setup consists of a metallic robot arm with endeffector positioned under a patient bed. The patient is first scanned in the MRI and then by the robotic arm, resulting in 3D scans in MRI, ultrasound and elastography. A patient-specific simulation model is created and the intervention planned, taking tissue deformations into account. The biopsy needle is manually inserted by the radiologist. The different sub-parts of the system were investigated in a broad range of phantom experiments, while preliminary experiments with the full setup on phantoms were conducted as well. The MURAB setup has shown that it is effectively able to apply deformation compensation techniques in targeting lesions.The Stormram project takes a different approach into the same clinical challenge. An MR safe needle manipulator is placed inside the MRI scanner, allowing to insert the biopsy needle robotically straight after the MRI scan without moving the patient. The manipulator is actuated by pneumatic stepper motors which are entirely made of non-metallic materials and are extensively described and evaluated. A total of five distinct prototypes have been built within the Stormram project. The Stormram 4 has shown to have a needle positioning accuracy in MRI of 2 mm.Both the MURAB and Stormram projects show that it is possible to tackle the clinical challenge using a robotic system, taking tissue deformations into account. Several new technologies and combinations have been developed within both projects and these also demonstrate the value of the conducted research.

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Design and characterization of Stormram 4: An MRI-compatible robotic system for breast biopsy

Cited by 21 publications

References 9 publications

Rapid Prototyping High-Performance MR Safe Pneumatic Stepper Motors

Rapid Prototyping High-Performance MR Safe Pneumatic Stepper Motors

Sunram 5: An MR Safe Robotic System for Breast Biopsy

Robotic systems for breast biopsy using MRI and ultrasound imaging

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