University of Twente Student Theses
An Augmented-Reality based control method for an MR safe robot in breast biopsy
Marx, Lennard (2024) An Augmented-Reality based control method for an MR safe robot in breast biopsy.
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| Abstract: | Magnetic Resonance Imaging (MRI)-guided breast biopsies, integral to breast cancer diagnosis, require multiple preparatory and control scans to navigate the biopsy needle to the target and are susceptible to human errors. Robotic interventions offer the potential to automate these procedures while enhancing targeting accuracy. The imperative for practical and intuitive interfaces to keep operators in the loop becomes apparent. Emerging technologies like augmented reality (AR), and head-mounted displays (HMD) present an immersive solution for human-robot interaction and teleoperation. This study introduces an AR-based control method for an MR-safe robot to conduct breast biopsies. Leveraging hand gestures, voice commands, and intuitive interfaces, operators can effectively engage with the robot to perform the biopsy. Features such as auto-targeting and path planning offer crucial support, ensuring a high degree of accuracy and success rates. Experiments within an MRI environment show the efficacy of these features, resulting in an achieved accuracy of 1.36 ± 0.89 mm. A substantial reduction of time cost of MRI-guided biopsy was observed as one full biopsy procedure from acquisition to final control scan took 11.83 ± 2.10 min, compared to the 35-39 min in clinical practice. In conclusion, the proposed method demonstrates a promising approach to AR-guided robotic control in breast biopsy. It also provides great potential to be extended to other applications of robotic teleoperation. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 44 medicine, 52 mechanical engineering, 54 computer science |
| Programme: | Biomedical Engineering MSc (66226) |
| Awards: | IEEE BioRob 2024 Best Paper Award Nominee |
| Link to this item: | https://purl.utwente.nl/essays/104832 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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