Table 3:

MRI robotic system for breast cancer intervention

Year	Team	Study type	Accuracy	DOF	Actuation type	Control type	SNR	Design	Institute
2014	Yang et al. [62]	Animal study	The target was reached in total of 50 minutes	6 DOF	5 pneumatic cylinders 1 Piezomotor	Interactive MRI master–slave	Less than 8% drop	5 DOF robot 1 DOF needle drive	University of Maryland
2016	Chan et al. [63]	In air	0.34 mm	6 DOF	Piezoelectric motors	-	13% drop in 1.5 Tesla 2.5% drop in 3.0 Tesla	3 subsystems: the manipulator, a toolset, and a patient support	McMaster University
2017	Park et al. [59]	Phantom	2.3 mm	4 DOF	Piezoelectric motors	Automated needle drive	acceptable for manual and automatic image segmentation	Bendable needle curved trajectory	National Cancer Center Republic of Korea
2017	Navarro-Alarcon et al. [65]	Phantom	±0.4 mm x and y And ±1.5 mm insertion	3 DOF	Piezo motors and pneumatic actuators	Automated needle drive	No significant degradation of the MR images	Cartesian mechanism	The Chinese University of Hong Kong
2017	Groenhuis et al. [66]	In air	Mean 0.7 mm, with a reproducibility of 0.1 mm	4 DOF	Linear and curved pneumatic stepper motors	Manual mode and automatic mode	-	Serial kinematic chain	University of Twente
2017	Zhang et al. [67]	Phantom	-	7 DOF	Flexible shafts and remote DC motors	-	-	Positioning module (4 DOF) Puncturing module Biopsy module Storage module	School of Harbin University of Science and Technology