A novel palm-shape breast deformation robot for MRI-guided biopsy

Abstract

Magnetic Resonance Imaging (MRI) presents better performance in breast imaging compared to computed tomography or ultrasound, however, its image quality critically depends on the stabilization of breast tissues during interventions. Conventionally, 2D compression plates for immobilization have been used by various researchers, however, not only do these plates cause anatomical distortion and patient discomfort, but it is difficult to advance the biopsy gun to certain area of the breast due to rigid immobilization. In this paper, we present a mechanism and initial result of a new breast deformation device for MRI-guided breast biopsy. This mechanism can immobilize the breast as well as actively deform the tissue into a desired configuration. The mechanism has multiple degrees-of-freedom actuated by a piezoelectric motor and multiple pneumatic bladders. The developed system, which is MRI-compatible, can be used and actuated inside the magnetic bore with the help of MR images. Preliminary experimental results are presented to verify the performance of the device.