Prostate cancer is one of the most common cancers in men and biopsy is the gold standard for prostate cancer diagnosis. Existing ultrasound-guided biopsy procedures suffer inaccuracy due to the need for image fusion and target projection.
Biopsy guided directly by MRI image eliminates the errors associated with image fusion and target projection. To enable in-MRI biopsy, a novel biopsy robot based on dual triangular linkage (DTL) was developed. Its unique architecture allows collision-free operation within the confined MRI tunnel while improving patient safety. A prototype is under development and will be tested experimentally in MRI tunnel.
Personnel - Dr Shao Liu (past student, current postdoctoral fellow)
Thesis - Design and Modelling of Robots for Minimally Invasive Surgery