Haptic Needle Unit for MR-Guided Biopsy and Its Control

MRI provides high-resolution anatomical images and is ideal for certain image-guided interventions. Due to the physical separation between the patient region of interest and the workspace accessible by the clinician, direct force feedback from the target anatomy is missing during the interventions. This paper demonstrates the use of a master-slave haptic device for magnetic resonance-guided biopsy, using a novel haptic control scheme based upon a neural network speed model. Results have shown the feasibility of the proposed hardware design and control scheme.