University of Twente Student Theses


Design of 3D printed biopsy robot and control using mobile phone application

Bluiminck, M. (2020) Design of 3D printed biopsy robot and control using mobile phone application.

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Abstract:Robotic systems have been developed and demonstrated that these may achieve an increased quality of biopsies over manual biopsies. However, robotic systems often use non-intuitive interfaces such as sliders and buttons on a control panel and robotics are very costly. This paper therefore proposes a design of a rapid prototypable biopsy system, a biopsy end-effector with control using a hand-held smartphone. This method uses low-cost servo motors to generate rotational motions in two dimensions of freedom, plus a stepper motor used in a screw-thread mechanism for a translational injection of the needle. The system uses the built-in accelerometer and gyroscope sensor to retrieve the phone's orientation. In the system several modes are implemented to increase the workability: the angular movements are attenuated to enhance precision. Results show that the designed robot had an angular accuracy of 1.034 degrees based on targeting predefined points. The phone's orientation was captured with less than 0.30 degrees deviation from the real orientation. Using the robotic system developed in this research, it is possible to control a biopsy needle using a handheld mobile phone, and target lesions sized 1 cm and up to 9 cm deep with 85\% success rate under visual guidance.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:44 medicine, 53 electrotechnology
Programme:Electrical Engineering BSc (56953)
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