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Evaluation of the SUNRAM 5 for performing a full clinical in-situ breast biopsy procedure

Bhide, Gaurav (2020) Evaluation of the SUNRAM 5 for performing a full clinical in-situ breast biopsy procedure.

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Abstract:Breast cancer, one of the most dangerous diseases, poses a significant risk to the patient if left untreated. One of the methods for breast cancer screening and diagnosis is MRI guided breast biopsy. Since manual systems lack in accuracy and efficiency, and the procedure time required forMRI based biopsy is very high, a set of robotic systems were developed to perform MR safe robot-assisted biopsy. The current SUNRAM 5 robot, the 5th robot of the series, is a 5 DOF system including a breast fixation system, an emergency needle ejection mechanism, and fast and precise needle insertion under near real-time MRI guidance. The robot has been programmed to operate to target green dye stained PVC plastisol blocks (mimicking lesions) in breast phantoms inside a 0.25TMRI scanner. Evaluation of the systemwas performed in air and based on the MRI scan. Additionally, a full clinical biopsy procedure workflow was developed using the SUNRAM 5 and an easy to operate user interface. The robot achieved submillimeter accuracy and precision in targeting the targets in air. MRI based evaluation was considered successful with an average maximum error of 1.24mm in the X direction and 3.52mm in the Y direction. A full clinical biopsy workflow was tested in using a simple-to-use app and the average procedure time excluding the time taken for taking the MRI scans was recorded to be around 3 mins and 25 seconds.
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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