In recent years, breast cancer incidence has increased year by year, which makes research on treatment methods critical. Intervention surgery is a new development in breast cancer treatment. However, the operation is complicated and lasts for a long time. The doctor’s operation can no longer meet clinical needs. The breast intervention robot has the characteristics of minimal invasiveness, operability, and high flexibility so that it can compensate for the shortcomings of traditional interventional surgery. The combination of the robotic system and medical imaging technology is an important means to determine the lesion location and plan the puncture path. This article mainly reviews the breast intervention robot under image navigation. Based on existing literature, image navigation methods are divided into MRI, ultrasound, and CT for the introduction. First, we summarized the principles and technologies associated with materials, sensors, and actuators used in the MRI-guided breast intervention robot. In particular, the actuation is analyzed and compared in detail. Subsequently, the ultrasound-guided and CT-guided breast intervention robots are introduced. After that, we discuss the image-guided positioning technology. Finally, we summarize the research progress and trends in the future development of breast intervention robots under image navigation.

近年来，乳腺癌的发病率逐年上升，这使得对治疗方法的研究变得至关重要。介入手术是乳腺癌治疗的新进展。但是，操作复杂，持续时间长。医生的手术已经不能满足临床需要。乳房介入机器人具有微创性、可操作性、灵活性高等特点，弥补了传统介入手术的不足。机器人系统与医学影像技术的结合是确定病灶位置和规划穿刺路径的重要手段。本文主要回顾图像导航下的乳房介入机器人。基于现有文献，图像导航方法分为MRI、超声、和CT的介绍。首先，我们总结了与 MRI 引导的乳房介入机器人中使用的材料、传感器和执行器相关的原理和技术。特别是，对驱动进行了详细分析和比较。随后，介绍了超声引导和CT引导的乳房介入机器人。之后，我们讨论图像引导定位技术。最后总结了图像导航下乳房介入机器人的研究进展和未来发展趋势。之后，我们讨论图像引导定位技术。最后总结了图像导航下乳房介入机器人的研究进展和未来发展趋势。之后，我们讨论图像引导定位技术。最后总结了图像导航下乳房介入机器人的研究进展和未来发展趋势。