A MRI compatible robot for breast intervention

摘要

According to the requirements of MRI (Magnetic Resonance Imaging) surgical navigation robot, a MRI-compatible breast intervention robot is designed. Due to the available space in MRI scanner is limited, a seven DOF (Degree of Freedom) robot is designed with rectangular coordinate system. The metallic materials in nuclear magnetic environment will influence the imaging and reduce the accuracy of surgery. Resolve the MR-compatible problem by using non-magnetic stainless steels and other non-magnetic materials. Put motors out of the nuclear magnetic environment, and use a long-distance transmission way to deliver the power. Utilize MATLAB/Simulink to do working space analysis. According to the analysis results, it is testified that the robot working space can cover the whole breasts of patient. Utilize ANSYS / Workbench to do statics analysis about crucial parts of the robot. By the force simulation, the deformed patterns and stress patterns are obtained to prove that the structure of robot is reasonableness. This design lies the foundation of further study.