A Pneumatic Driven MRI-Guided Robot System for Prostate Interventions

IF 3.4 Q2 ENGINEERING, BIOMEDICAL IEEE transactions on medical robotics and bionics Pub Date : 2024-04-16 DOI:10.1109/TMRB.2024.3389490
Haipeng Liang;Wanli Zuo;Dimitri Kessler;Tristan Barrett;Zion Tsz Ho Tse
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Abstract

Under the guidance of high-resolution Magnetic Resonance Imaging (MRI), robotic devices offer a great advantage for prostate intervention. This paper presents an MR-safe robot, where a needle is attached to the needle guide to obtain prostate biopsies during surgeries. The robot is powered by three actuators, two of them are customized to function as a work plane that allows the needle to move horizontally and vertically, and the third actuator controls the rotation of the work plane, allowing the needle to be inserted into the prostate from different directions. All the actuators are pneumatically actuated to allow them to work in a Magnetic Resonance (MR) environment. The kinematics and mechanism of the robot are analyzed. A user interface developed using LabView is created to calculate the target position and generate a control signal for the valves. In the open-air test, the needle can reach the target with an accuracy of 1.3 mm. The signal-to-noise ratio (SNR) variation was measured below 5% under a 3T MR scanner.
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用于前列腺介入治疗的气动驱动核磁共振成像引导机器人系统
在高分辨率磁共振成像(MRI)的引导下,机器人设备为前列腺介入治疗提供了巨大优势。本文介绍了一种磁共振安全机器人,在手术过程中,将针头连接到针头导向器上,以获取前列腺活检组织。该机器人由三个致动器提供动力,其中两个致动器被定制为工作平面,允许针头水平和垂直移动,第三个致动器控制工作平面的旋转,允许针头从不同方向插入前列腺。所有致动器均为气动致动器,使其能够在磁共振(MR)环境中工作。我们对机器人的运动学和机构进行了分析。使用 LabView 开发的用户界面用于计算目标位置并为阀门生成控制信号。在露天测试中,针头到达目标位置的精确度为 1.3 毫米。在 3T 磁共振扫描仪下测得的信噪比(SNR)变化低于 5%。
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Table of Contents IEEE Transactions on Medical Robotics and Bionics Society Information Guest Editorial Special section on the Hamlyn Symposium 2023—Immersive Tech: The Future of Medicine IEEE Transactions on Medical Robotics and Bionics Publication Information IEEE Transactions on Medical Robotics and Bionics Information for Authors
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