Beschreibung
This work presents a soft robotic system that supports interventionalists in tumor diagnostics through biopsy and ablation in the magnetic resonance imaging (MRI) environment. The system is designed to indicate the location of the puncture, assist in holding the biopsy and ablation needles, and support the fine adjustment of the puncture angle. The robot consists of a six-chamber soft actuator that can be extended with additional actuators or end effectors using a connector system. Two end effector designs are presented, a needle holder, and a system for indicating and, if necessary, marking the puncture site. The soft robot components are prototyped and characterized in an experimental set-up regarding the bending capabilities and evaluated with the help of an experienced interventionalist. A minimum bending angle of 23.51^\circ was achieved, which satisfies the predefined requirements.
