Designing, implementing and integrating a controller for the MRI compatible robotic breast biopsy system

Abdelaziz, Mohamed Essam Mohamed Kassem (2016) Designing, implementing and integrating a controller for the MRI compatible robotic breast biopsy system.

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Abstract:One of the breast cancer screening and diagnosis methods is MRI-guided breast biopsy. Current techniques have limitations in accuracy and efficiency, which may cause lesions to be missed. In order to tackle this problem, a pneumatically actuated 5 DOF MRI compatible robot is integrated with an electronic valve manifold and a graphical user interface to target fish oil capsules (mimicking lesions) in breast phantoms inside a 0.25T MRI scanner. Measurements with the scanner have shown that the robot without needle has no measurable influence on MRI scans. When equipped with an off-the-shelf titanium needle, artifacts are present in the vicinity of the needle when inserted into tissue. Preliminary needle positioning measurements show that the accuracy is in the order of (4.7 - 7.3 mm) and that there is a decrease in the time of the MRI-guided localization procedure.
Item Type:Essay (Master)
Clients:
1991, Netherlands
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:44 medicine, 50 technical science in general, 52 mechanical engineering
Programme:Systems and Control MSc (60359)
Link to this item:http://purl.utwente.nl/essays/71199
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