Steven Roys1,
Bo Yang2, Mathew Philip3, Jaydev Desai2, Rao
Gaullapalli1
1Diagnostic
Radiology and Nuclear Medicine, University of Maryland School of Medicine,
Baltimore, MD, United States; 2Mechanical Engineering, University
of Maryland, College Park, College Park, MD, United States; 3Robin
Medical, Inc., Baltimore, MD, United States
MR guided robotic assisted biopsy and therapeutic systems can be very useful as they can take advantage of the excellent soft tissue contrast especially to reach deep seated tumors that are difficult to target accurately. In this study we have evaluated a master-slave robotic system designed for breast biopsy and interventions that incorporates a position sensing device. The accuracy of the targeting under continuous imaging and the time taken to target deep seated tissues using a needle were measured. Accuracy of targeting was within 2mm and the targeting procedure time was ~20minutes.