Breast cancer is one of the most frequent cancers and a major cause of cancer death in women. In this article, the design and control of a novel magnetic resonance imaging-compatible breast intervention robot are proposed. The dimensions and tolerance of the robot system are considered, and a novel pitching mechanism is designed to achieve a dexterous operation in the limited space. The magnetic resonance imaging compatibility of the robot materials is tested. The nonmagnetic structure and compact Cartesian mechanism of the robot allow it to operate safely in a magnetic resonance imaging scanner. According to the robot’s structure, a kinematics analysis based on a coupled motions model is established. The workspace simulation analysis of the robot proves that it is suitable for the whole breast surgery. To control the needle insertion tasks, the overall control system in the form of “personal computer (PC) + single-chip micyoco (SCM)” is designed. Finally, the motion control experiment is carried out, and the robot positioning error is 0.37 mm, which proves that the breast intervention robot and its control system designed in this article can meet the requirements of breast intervention.

中文翻译：

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一种新型磁共振成像兼容乳房介入机器人的设计与控制

乳腺癌是最常见的癌症之一，也是女性癌症死亡的主要原因。在本文中，提出了一种新型磁共振成像兼容乳房介入机器人的设计和控制。考虑了机器人系统的尺寸和公差，设计了一种新颖的俯仰机构，实现了在有限空间内的灵巧操作。测试了机器人材料的磁共振成像兼容性。机器人的非磁性结构和紧凑的笛卡尔机构使其能够在磁共振成像扫描仪中安全运行。根据机器人的结构，建立了基于耦合运动模型的运动学分析。该机器人的工作空间仿真分析证明它适用于整个乳房手术。为了控制针插入任务，设计了“个人电脑（PC）+单片机（SCM）”形式的整体控制系统。最后进行了运动控制实验，机器人定位误差为0.37 mm，证明本文设计的乳腺介入机器人及其控制系统能够满足乳腺介入的要求。