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JIA XIAOHONG, ZHANG YONGDE, DU HAIYAN, YU YAN. EXPERIMENTAL STUDY OF DOUBLE CABLE-CONDUIT DRIVING DEVICE FOR MRI COMPATIBLE BIOPSY ROBOTS. J MECH MED BIOL 2021. [DOI: 10.1142/s0219519421400145] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/09/2022]
Abstract
Magnetic resonance imaging (MRI) is better than other imaging equipment in detecting tumors, and navigation for robotic breast intervention biopsy. However, material requirements for robots driving devices are demanding incredibly because of the environment. Given this problem, a novel double cable-conduit driving method is put forward in this paper, which can be used in MRI for breast intervention robots. Besides, lebus grooves are adopted to the driving wheels, which enable the system to realize remote-range and large-scale driving on the premise that the precision can be further enhanced. The driving characteristic of the novel cable-conduit is established. Moreover, the cable-conduit experimental data proves the results of theoretical deduction. Finally, the cable-conduit driving device is compensated, the average errors in the [Formula: see text], [Formula: see text], and [Formula: see text] directions of the needle tip entering the tissue are less than 2[Formula: see text]mm. The consequence verifies that it can meet the requirements for breast biopsy robot application under MR environment.
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Affiliation(s)
- XIAOHONG JIA
- School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, P. R. China
| | - YONGDE ZHANG
- School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, P. R. China
| | - HAIYAN DU
- School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, P. R. China
| | - YAN YU
- Sidney Kimmel Medical College, Thomas Jefferson University, Philadelphia 19107, USA
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Groot Koerkamp ML, Vasmel JE, Russell NS, Shaitelman SF, Anandadas CN, Currey A, Vesprini D, Keller BM, De-Colle C, Han K, Braunstein LZ, Mahmood F, Lorenzen EL, Philippens MEP, Verkooijen HM, Lagendijk JJW, Houweling AC, van den Bongard HJGD, Kirby AM. Optimizing MR-Guided Radiotherapy for Breast Cancer Patients. Front Oncol 2020; 10:1107. [PMID: 32850318 PMCID: PMC7399349 DOI: 10.3389/fonc.2020.01107] [Citation(s) in RCA: 32] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/14/2020] [Accepted: 06/03/2020] [Indexed: 01/01/2023] Open
Abstract
Current research in radiotherapy (RT) for breast cancer is evaluating neoadjuvant as opposed to adjuvant partial breast irradiation (PBI) with the aim of reducing the volume of breast tissue irradiated and therefore the risk of late treatment-related toxicity. The development of magnetic resonance (MR)-guided RT, including dedicated MR-guided RT systems [hybrid machines combining an MR scanner with a linear accelerator (MR-linac) or 60Co sources], could potentially reduce the irradiated volume even further by improving tumour visibility before and during each RT treatment. In this position paper, we discuss MR guidance in relation to each step of the breast RT planning and treatment pathway, focusing on the application of MR-guided RT to neoadjuvant PBI.
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Affiliation(s)
| | - Jeanine E. Vasmel
- Department of Radiation Oncology, University Medical Center Utrecht, Utrecht, Netherlands
| | - Nicola S. Russell
- Department of Radiotherapy, The Netherlands Cancer Institute–Antoni van Leeuwenhoek Hospital, Amsterdam, Netherlands
| | - Simona F. Shaitelman
- Department of Radiation Oncology, University of Texas MD Anderson Cancer Center, Houston, TX, United States
| | - Carmel N. Anandadas
- Department of Clinical Oncology, The Christie NHS Foundation Trust, Manchester, United Kingdom
| | - Adam Currey
- Department of Radiation Oncology, Medical College of Wisconsin, Milwaukee, WI, United States
| | - Danny Vesprini
- Department of Radiation Oncology, Sunnybrook Health Sciences Centre, Toronto, ON, Canada
| | - Brian M. Keller
- Department of Radiation Oncology, Sunnybrook Health Sciences Centre, Toronto, ON, Canada
| | - Chiara De-Colle
- Department of Radiation Oncology, University Hospital and Medical Faculty, Eberhard Karls University Tübingen, Tübingen, Germany
| | - Kathy Han
- Department of Radiation Oncology, Princess Margaret Cancer Centre, University Health Network, University of Toronto, Toronto, ON, Canada
| | - Lior Z. Braunstein
- Department of Radiation Oncology, Memorial Sloan Kettering Cancer Center, New York, NY, United States
| | - Faisal Mahmood
- Department of Oncology, Odense University Hospital, Odense, Denmark
- Research Unit for Oncology, Department of Clinical Research, University of Southern Denmark, Odense, Denmark
| | - Ebbe L. Lorenzen
- Department of Oncology, Odense University Hospital, Odense, Denmark
| | | | | | - Jan J. W. Lagendijk
- Department of Radiation Oncology, University Medical Center Utrecht, Utrecht, Netherlands
| | - Antonetta C. Houweling
- Department of Radiation Oncology, University Medical Center Utrecht, Utrecht, Netherlands
| | | | - Anna M. Kirby
- Department of Radiotherapy, Royal Marsden NHS Foundation Trust and Institute of Cancer Research, Sutton, United Kingdom
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