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. 2016 Sep;12(3):461-77.
doi: 10.1002/rcs.1760. Epub 2016 Jul 11.

An image-guided automated robot for MRI breast biopsy

Kathryn G Chan  1 , Tim Fielding  2 , Mehran Anvari  3
Affiliations

An image-guided automated robot for MRI breast biopsy

Kathryn G Chan et al. Int J Med Robot. 2016 Sep.

Abstract

Background: The IGAR (Image-guided Automated Robot) is a robotic platform capable of performing highly accurate clinical interventions under image guidance. The IGAR is unique in that it demonstrates MRI compatibility and maintains safe operation, adequate shielding, high image quality, and accurate robotic control even while in an imaging environment. The IGAR is initially intended for breast biopsy.

Methods: Tests for projectile hazards, heating, signal-to-noise ratio loss, and geometric distortion were used to demonstrate MR compatibility. Accuracy and repeatability of the robotic system were tested on benchtop models to establish a baseline of precision.

Results: The IGAR averaged an accuracy of 0.34 mm and a repeatability of 0.2 mm. There was no significant distortion attributable to the robot, no projectile risk, and no unacceptable levels of heating.

Conclusion: The IGAR system is safe and effective in an MRI environment Copyright © 2016 John Wiley & Sons, Ltd.

Keywords: Image guided; MRI compatible; automated robot; biopsy; breast cancer; needle insertion.

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