University of Twente Student Theses


Design of a novel needle steering manipulator for minimally invasive guided breast biopsy

Bukai, E. (2016) Design of a novel needle steering manipulator for minimally invasive guided breast biopsy.

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Abstract:Breast cancer is the most common type of cancer worldwide in women. Most types of breast cancer are detected by diagnosis of extracted tissue cells by microscopic analysis. With the increase of popularity of Minimally Invasive Surgery (MIS) across the medical field, needle breast biopsy under ultrasound guidance is the procedure of choice to detect and retrieve tissue for histopathologic study. Highly dependent on the skill and experience of the radiologist,various techniques allow for precise lesion targeting and accurate diagnosis of extracted biopsy tissue samples. A novel parallelogram-based Remote Center of Motion (RCM) mechanism for automated minimally invasive breast biopsy is proposed in this paper. Allowing for an adjustable working point, the development of this 3 DOF needle steering mechatronic system promotes the demonstration of precise and accurate lesion targeting. Guided by an integrated ultrasound probe, this safety driven apparatus sets groundwork towards the development of an FDA approved needle steering manipulator for ultrasound guided breast biopsy. The proposed conceptual design is validated by a prototype with the use of a rapid-prototyping technique. Experimental results have shown empirical findings, with the mechanism’s performance allowing for accurate and precise needle steering. The design offers potential for targeting lesions in breast cancer applications.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:44 medicine, 52 mechanical engineering, 53 electrotechnology
Programme:Systems and Control MSc (60359)
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