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As a gold standard to confirm if the suspicious tissue is cancerous or not, breast biopsy needs to be guided reliably and accurately to the suspect region to take the tissue sample for microscopic analysis. Thus the primary limitation of the current MR-guided procedure is the need for repeated needle insertion if the initial blind needle targeting is not accurate based on MR images acquired a priori. A master-slave surgical system has been developed comprising of a MRI-compatible slave robot which consists of one piezo motor and five pneumatic cylinders connected by long pneumatic transmission lines. The envisioned work flow of the robotic assisted breast biopsy procedure is shown in Figure 1. The cooperated welding trajectory planning problem of multi-robot system without gripper tools is studied in this paper. Once confirmed, the blunt obturator is removed and the biopsy gun is inserted to obtain breast core specimen samples.

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As a gold standard to confirm if the suspicious tissue is cancerous or not, breast biopsy needs to be guided reliably and accurately to the suspect region to take the tissue sample for microscopic analysis. Thus the primary limitation of the current MR-guided procedure is the need for repeated needle insertion if the initial blind needle targeting is not accurate based on MR images acquired a priori. A master-slave surgical system has been developed comprising of a MRI-compatible slave robot which consists of one piezo motor and five pneumatic cylinders connected by long pneumatic transmission lines. The envisioned work flow of the robotic assisted breast biopsy procedure is shown in Figure 1. The cooperated welding trajectory planning problem of multi-robot system without gripper tools is studied in this paper. Once confirmed, the blunt obturator is removed and the biopsy gun is inserted to obtain breast core specimen samples.

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  1. The surgical system is expected to perform the needle insertion tasks accurately in one trial, avoiding the repeated needle insertion that could cause undue trauma to the patient.

  2. Off-line programming technology is used for simulations and the results show the effectiveness and feasibility of our proposed method.

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