University of Twente Student Theses
Control and ex-vivo evaluation of Sunram 7 : an MR safe robotic system for breast biopsy
Ranjan, H. (2022) Control and ex-vivo evaluation of Sunram 7 : an MR safe robotic system for breast biopsy.
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| Abstract: | Diagnosis of one of the most dangerous and threatening diseases in woman, breast cancer, creates a crucial risk to the patients if it is not screened, diagnosed and treated at the early stages. MRI guided breast biopsy is recommended if the lesions are too small to notice or to confirm any previous diagnosis. To accurately sample the lesion tissues, prevent high tissue damage and reduce the procedural time, thus costs, the Sunram 7 is designed & fabricated at RAM, and evaluated in free air and in the MR environment. It is a 5 DOF, MR safe robot which can perform MR guided breast biopsy using a hollow needle-like biopsy gun. Its positioning and targeting errors were studied in free air and lesion mimicking stiff coloured PVC structures inside a breast phantom were targeted, to obtain tissue samples using the 0.25T Esaote scanner, while identifying the different error sources in the system. Upon building the pre-requisites and conducting the initial studies with respect to the segmentation and transformations, the Sunram 7 was evaluated to be labeled accurate, with maximum mean positioning error of 3.18 ± 0.8 mm in the 3D space (0.3 ± 1.6 mm, 1.9 ± 0.8 mm and 1.5 ± 0.95 mm in x, y and z directions respectively). The Sunram 7 could obtain coloured biopsy samples, with a success rate of 70% in the MR environment. Comparing with the standard manual breast biopsy process, this robotic system displays potential to perform MR guided breast biopsy, inside the MR scanner’s bore by reducing time, tissue damage and eliminating movement errors due to in-situ operation. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 54 computer science |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/93427 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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