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Study on Bionic Design and Tissue Manipulation of Breast Interventional Robot.

Weixi Zhang1,2, Jiaxing Yu1, Xiaoyang Yu2

  • 1Key Laboratory of Advanced Processing Technology and Intelligent Manufacturing (Heilongjiang Province), Harbin University of Science and Technology, Harbin 150080, China.

Sensors (Basel, Switzerland)
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PubMed
Summary

This study introduces a bionic robot for breast cancer surgery, mimicking scorpions to improve accuracy by controlling tissue deformation. The novel approach enhances precision in minimally invasive interventions.

Keywords:
ADMM-based tissue dynamicsbionic designbreast interventional robotbreast tissue manipulationmanipulate target displacement

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Area of Science:

  • Biomedical Engineering
  • Robotics
  • Surgical Oncology

Background:

  • Minimally invasive surgery for breast cancer faces accuracy challenges due to breast tissue's fluidity and deformability.
  • Current interventional techniques are limited by the unpredictable nature of soft tissue manipulation.

Purpose of the Study:

  • To develop a bionic breast interventional robot inspired by scorpion predation to enhance surgical accuracy.
  • To actively manipulate breast tissue deformation for precise targeting in minimally invasive procedures.

Main Methods:

  • A modular robot design with analyzed kinematics and workspace.
  • A hierarchical tissue method simplifying 3D deformation to a 2D problem.
  • A 2D tissue deformation solver using the minimum energy method for quasi-static analysis.

Main Results:

  • Simulations in MATLAB verified the active manipulation method's feasibility.
  • Maximum errors of 1.7 mm (prostheses) and 2.5 mm (in vitro tissues) in X and Y directions were achieved.
  • The proposed method demonstrated significant potential for improving intervention accuracy.

Conclusions:

  • The bionic breast interventional robot offers a novel solution for enhancing accuracy in breast cancer diagnosis and treatment.
  • Active manipulation of tissue deformation is a viable strategy to overcome challenges in minimally invasive breast surgery.