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A Visual Servo Controlled Robotic System for MRI-guided Breast Biopsy

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Abstract

Achieving high repetitive accuracy and operation uniformity of small lesion targeting are the main challenges in robot-assisted procedures of MRI-guided breast biopsy. In this paper, we present a visual servo controlled robotic system for MRI-guided breast intervention. This robot system is developed based on the manual control version of previous publication. Zhang et al. (2019). The robot system exploits a cable-driven series-parallel mechanism and pneumatic controlled acupuncture mechanism, robot motion is guided by a machine vision system. The kinematic model of the robot is established, a control method of combining forward kinematics and visual servo control of a series-parallel robot is proposed to fulfil accurate control of the needle. A robot motion compensation method based on vision is developed, and the accuracy of the lesion targeting of the robot system is improved by establishing a feedback control mechanism. Repetitive accuracy results shows that the average error of targeting different lesions is between 1.29 mm to 2.42 mm, compared to previous manual control method, the visual control can provide significant improved accuracy. Comprehensive image quality test including signal-to-noise ratio (SNR) test, distortion test and uniformity test are carried out. The SNR variation is less than 10%, distortion is less than 1%, and uniformity is larger than 96%. Comparative experiments are conducted to verify the system’s visual servo control accuracy, MR image quality is evaluated to verify MRI compatibility under working condition. The experimental results show the robot satisfies the operational requirements and can provide effective assistance in clinical breast biopsy.

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Code Availability

Code generated or used during the study is available from the corresponding author by request.

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Funding

This work is supported Project supported by the National Science Foundation for Young Scientists of China (Grant No.62103270), by RGC TRS T42-409-18R of the Shenzhen-HK Collaborative Development Zone.

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Authors and Affiliations

  1. Institute of Translational Medicine, Shanghai Jiaotong University, Rd.800 Dong Chuan, Shanghai, 200240, China

    Tianxue Zhang

  2. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin N.T, Hong Kong S.A.R., NT, China

    Tianxue Zhang & Yun-hui Liu

Authors
  1. Tianxue Zhang
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  2. Yun-hui Liu
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Contributions

Tianxue ZHANG conceived and designed the approach and contributed in code implementation, data collection, and experimentation. The first draft of the manuscript was written by Tianxue ZHANG. Yun-hui LIU provided guidance in the work and thoroughly corrected the manuscript. All authors read and approved the final manuscript.

Corresponding author

Correspondence to Tianxue Zhang.

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All the authors of this paper have no conflicts of interest, financial or otherwise.

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Zhang, T., Liu, Yh. A Visual Servo Controlled Robotic System for MRI-guided Breast Biopsy. J Intell Robot Syst 105, 86 (2022). https://doi.org/10.1007/s10846-022-01615-2

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  • DOI: https://doi.org/10.1007/s10846-022-01615-2

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