title: An image-guided automated robot for MRI breast biopsy.
abstract: BACKGROUND
  The IGAR (Image-guided Automated Robot) is a robotic platform capable of performing highly accurate clinical interventions under image guidance. The IGAR is unique in that it demonstrates MRI compatibility and maintains safe operation, adequate shielding, high image quality, and accurate robotic control even while in an imaging environment. The IGAR is initially intended for breast biopsy.
  
  
  METHODS
  Tests for projectile hazards, heating, signal-to-noise ratio loss, and geometric distortion were used to demonstrate MR compatibility. Accuracy and repeatability of the robotic system were tested on benchtop models to establish a baseline of precision.
  
  
  RESULTS
  The IGAR averaged an accuracy of 0.34 mm and a repeatability of 0.2 mm. There was no significant distortion attributable to the robot, no projectile risk, and no unacceptable levels of heating.
  
  
  CONCLUSIONS
  The IGAR system is safe and effective in an MRI environment Copyright © 2016 John Wiley & Sons, Ltd.
authors.affiliation: CSii, Hamilton, Ontario, Canada.
authors.forename: Kathryn G
authors.initials: KG
authors.lastname: Chan
authors.affiliation: MDA Robotics, 9445 Airport Road, Brampton, Ontario, L6S 4J3, Canada.
authors.forename: Tim
authors.initials: T
authors.lastname: Fielding
authors.affiliation: McMaster University, Department of Surgery, Hamilton, Ontario, L8N 4A6, Canada.
authors.forename: Mehran
authors.initials: M
authors.lastname: Anvari
mesh_terms: D001940:Breast / Q000473:pathology*; D005260:Female; D006801:Humans; D061705:Image-Guided Biopsy / Q000379:methods*; D008279:Magnetic Resonance Imaging / Q000379:methods*; D015203:Reproducibility of Results; D012371:Robotics / Q000379:methods*; D059629:Signal-To-Noise Ratio
keywords: Image guided; MRI compatible; automated robot; biopsy; breast cancer; needle insertion