Design And Simulation Of MRI Compatible Robot For Breast Intervention

The application of surgical robot with MRI guidance will be an importantpart of minimally invasive surgery in the future. However, the MRI’s limitedspace and high magnetic field hindered the application of robotics seriously.Therefore, the study of intervention robot based on MRI is quite necessary, for ithas theoretical significance and application value.The study of MRI compatible robot was based on the characteristics of theMRI environment and the biopsy of breast cancer. First, the compatibility of MRIrobot is analyzed by experiment. It included material compatibility, structurecompatibility, driver compatibility and sensor compatibility. According to theresult of the material compatibility experiment, chosen material which fit roboteach component part. Second, the overall design is put forward based on thecharacteristics of breast surgical treatment in MRI. After that, three-dimensionalmodel of robot for breast intervention is established by Pro/E. Third, integralstructure static analysis is made by using ANSYS/Workbench. And thedeformation of major components are also analyzed, such as the slider bar andthe needling module. In kinematic analysis, the robot’s coordinate system isestablished by using the D-H method. The forward and inverse solution ofkinematics is calculated with coordinate transformation matrix. Meanwhile, theactual workspace of robot is obtained with the help of the SimMechanics toolboxof MATLAB. Finally, using the ADAMS/View simulated the dynamic of thisvirtual prototype robot. Three-dimensional model is input to the ADAMS/Viewby means of parasolid. Appended restrictions, drives and contact, andtransformed the breast tissue from rigid body into flexible body, before thesimulation analysis. The end effector acceleration curve is drew at the end of thekinematics simulation, as well as the contact force curves, for instance, theneedle to tissue and the mobile board to tissue. By modeling and analyzing the virtual prototype robot for breastintervention, this article proves that the overall design of robot is reasonable, italso provides solid foundation for future work on MRI compatible robot.