MRI-compatible Robotics

About MRI-compatible Robotics

Some lesions inside the breast can only be detected with MRI, not using mammography (x-ray) or ultrasound. A possible malignant lesion usually needs to be biopsied, but manual MRI-guided breast biopsy procedures are inaccurate and inefficient due to various reasons. A robotic needle manipulator could solve these problems.

Current research

The MRI compatibility requirement severily restricts the use of metallic materials near the scanning volume, therefore we develop fully plastic, pneumatically-driven actuators which can be manufactured with rapid prototyping techniques. The Stormram 1 and 2 robots are driven by linear stepper motors, and the McRobot 3.1 is driven by rotational stepper motors. Current research focuses on development of computerized controllers for existing robots, and on new generations of MRI-compatible pneumatic actuators.

Click here for a movie about Stormram 2 and here for a movie about Stormram 3.

For a possible assignment please contact Francoise Siepel f.j.siepel@utwente.nl or Vincent Groenhuis v.groenhuis@utwente.nl

Project lead

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prof.dr.ir. Stefano Stramigioli

Participants

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Vincent Groenhuis MSc
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dr. Fran├žoise Siepel