MRI Compatible Optical Force Sensing Technique for Robotically Assisted BiopsiesPublic
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Conducting accurate biopsies of tissue is critical for early cancer detection. The goal of this project was to develop a force feedback system, to be used in automated MRI biopsy procedures. The design utilizes interferometry techniques, paired with a custom fixture and processing circuitry to translate strain experienced by a needle into force. Testing was completed using calibration weights, simulation and formal design verification. The device begins the process of collecting accurate needle force profiles for future robots that utilize needle steering. Eventually, this data may allow for in vivo characterization of cancerous tissue.
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