University of Twente Student Theses


Design and implementation of autonomous robotic scanning of the breast

Schoot Uiterkamp, J.J.A. (2016) Design and implementation of autonomous robotic scanning of the breast.

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Abstract:MURAB stands for MRI and Ultrasound Robotic Assisted Biopsy and aims to improve MRI guided breast biopsy. MRI breast biopsy is significantly more complicated than ultrasound guided biopsy and causes increased discomfort for the patient and increased intervention time and costs. The MURAB project aims to reduce these drawbacks with an innovative, robot-based solution replacing the current procedure. In the first phase of MURAB, the scanning phase, ultrasound images and elastographic data of the breast is autonomously acquired by a KUKA robotic arm. After localizing the lesion by merging the 3D ultrasound scan with theMRI image, and correcting this location for needle induced displacements using the elastographic model, the needle is correctly positioned for insertion during the second phase, the needle insertion phase. The main topic of this master thesis consist of the analysis of the MURAB project, design of the scanning phase, and implementation of this design. Analysis revealed that the most important requirements for the scanning phase are patient safety, the acquiring of quality ultrasound images by maintaining a constant contact pressure and an orientation of the probe normal to the skin, and that the procedure should be autonomous. The design of the scanning phase consist of autonomous initialization of scanning, automatic trajectory planning, autonomous scanning movement and the acquisition of ultrasound and elastographic data. The design was implemented using a KUKA LWR4+ lightweight robot arm. The parts that were implemented are autonomous initialization of scanning, automatic trajectory planning and contact control. Results show that initialization of the scanning motion using markers is very accurate and the robot is steered to the correct start position with an accuracy of 1.6 mm. The trajectory was successfully planned. Contact with the patient was made and maintained during the full scan. During the full trajectory of the scanning motion, the contact pressure of 5 N is maintained withmaximumdeviation of 1.5 N. The end-effector is kept normal to the surface with an average deviation of seven degrees. Recommendations for future work include transition to a new robot, use prone position of the patient, include prototypes of end-effector designs, fine tuning of the controller and advancing to the acquisition of real-time US and elastographic data.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering MSc (60353)
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