Design and Analysis of A Novel MRI-compatible Breast Biopsy RobotBehaviors

摘要

MRI guided breast biopsy surgery is essential for the diagnosis and treatment of female breast diseases. It has great significance to research on the MRI-compatible breast biopsy robot, which can assist doctors to perform a breast biopsy surgery precisely in a narrow space of MRI scanner. In this paper, a novel MRI guided breast biopsy robot based on double shear fork mechanism is designed. The MRI compatibility and design requirements of breast biopsy robot are analyzed, and the structure design as well as space layout scheme for breast biopsy robot are proposed. The encircling breast fixation device, positioning mechanism based on double shear fork mechanism and biopsy mechanism are designed, and the virtual prototype model of breast biopsy robot is established. Besides, forward kinematics and inverse kinematics of the breast biopsy robot are analyzed, then the positioning mechanism based on double shear fork mechanism is analyzed by ANSYS/Workbench. Finally, the workspace range of the breast biopsy robot is solved by MATLAB/Simulink, which further verified the feasibility and rationality of the structure design of breast biopsy robot based on double shear fork mechanism.