Design of an Ultrasound Guided Breast Biopsy End-effector

In this thesis, the design and evaluation of a robotic end-effector are described. This thesis is part of the MURAB project in which the possibility to increase efficiency, accuracy and reliability of ultrasound guided breast biopsy, by merging MRI data, is investigated. The designed end-effector, to be mounted on a commercial robotic arm, contains an ultrasound probe, a mechatronic needle guide and a camera. Quantitative requirements set up in the problem definition are evaluated with the help of a physical prototype designed and build during the thesis. Recommendations for future iterations will be given based on the evaluated prototype. Safety is taken into account while designing the prototype, as future devices will be used in amedical environment.