Stormram 3 A Magnetic Resonance Imaging-Compatible Robotic System for Breast Biopsy

Stormram 3 is a magnetic resonance imaging (MRI)-compatible robotic system that can perform MR-guided breast biopsies of suspicious lesions. The base of the robot measures 160 x 180 x 90 mm, and it is actuated by five custom pneumatic linear stepper motors, driven by a valve manifold outside the Faraday cage of the MRI scanner. All parts can be rapidly prototyped with three-dimensional (3-D) printing or laser cutting, making the design suitable for other applications, such as actuation in hazardous environments. The Stormram 3 has an optimized repeatability that is lower than 0.5 mm, and it can achieve a positional accuracy on the order of 2 mm.