Stormram 2: A MRI-compatible robotic system for breast biopsy

摘要

A novel MRI-compatible 5 DOF needle manipulator driven by custom pneumatic linear stepper motors has been developed. The robot's frame measures 185x160x100mm, making it small enough to fit inside the bore of the scanner together with the patient. It also has sufficient speed, force and dexterity to manipulate the needle towards a chosen target in a soft breast phantom.