JBiSE> Vol.1 No.1, May 2008

Design and Control of a Novel Hydraulically/Pneumatically Actuated Robotic System for MRI-Guided Neurosurgery

DownloadDownload as PDF (Size:1138KB)  HTML    PP. 68-74  

ABSTRACT

In this paper the design of a novel modular hydraulic/pneumatic actuated tele-robotic system and a new infrastructure for MRI-guided intervention for closed-bore MRI-guided neurosurgery are presented. Candidate neurosurgical procedures enabled by this system would include thermal ablation, radiofrequency ablation, deep brain stimulators, and targeted drug delivery. The major focus is the application of the designed MR-compatible robotic system to MRI-guided brain biopsy. Navigation and operating modules were designed to undertake the alignment and advancement of the surgical needle respectively. The mechanical design and control paradigm are reported.

KEYWORDS


Cite this paper

Raoufi, C. , Goldenberg, A. and Kucharczyk, W. (2008) Design and Control of a Novel Hydraulically/Pneumatically Actuated Robotic System for MRI-Guided Neurosurgery. Journal of Biomedical Science and Engineering, 1, 68-74. doi: 10.4236/jbise.2008.11011.

References

[1] R. D. Howe, and Y. Matsuoka, “Robotics for Surgery”, Annual Review of Biomedical Engineering, Vol. 1, pp. 211 – 240, 1999
[2] J. Kettenbach, D. F. Kacher, S.K. Koskinen, S. Silverman, A. Nabavi, D. Geringt, C. Tempany, R. B. Schwartz, R.Kikinis, P. K. Black,, and F.A. Jolesz, “Interventional and Intra-operative Magnetic Resonance Imaging”, Annual Review Biomedical Engineering, Vol. 2 , pp. 661-90, 2000
[3] A. Nabavi, D. F. Kacher, D. T. Gering et al, “Neurosurgical procedure in 0.5 Tesla, open-configuration intraoperative MRI: planning, visualization, and navigation”, Automedia, Vol.00, pp.1-35, 2001
[4] K. Chinzei, N. Hata, F.A. Jolesz, and R. Kikinis, “ Medical Image Computing and Computer-Assisted Intervention” - MICCAI 2000. Third International Conference Proceedings (Lecture Notes in Computer Science Vol.1935), 2000, p 921-30
[5] F. Tajima, K. Kishi, K. Nishizawa, K. Kan, Y. Nemoto, H. Takeda et al, “Development of MR-compatibleSurgical Manipulator toward a Unified Support System for Diagnosis and Treatment of Heart Disease”, Proc .of MICCA O2, pp. 83-90, 2002.
[6] B. Larson, N. Tsekos, and A. g. Erdman, “A Robotic Device for Minimally Invasive Breast Intervention with Real-Time MRI Guidance”, Proc. Of the Third IEEE Symposium on Bioinformatics and Bioengineering, 2003.
[7] Engineering Services Inc., http://www.esit.com, Internal report,
[8] A. Krieger, R. Susil, C. Menard, J. Coleman, G. Fichtinger, E. Atalar, and L. Whitcomb , “Design of a Novel MRI Compatible Manipulator for Image Guided Prostate Intervention”, IEEE Trans. On Biomedical Engineering, Vol. 52, No. 2, pp. 306-313, 2005.
[9] G.S. Fischer, I. Iordachita, S. P. DiMaio, and G. Fichtiger, “Design of a Robot for Transperineal Prostate Needle Placement in MRI scanner”, IEEE International Conference on Mechatronics, pp. 6, 2006.
[10] K. Daeyoung et al., “A New, Compact MR-Compatible Surgical Manipulator for Minimally Invasive Liver Surgery”, MICCAI2002, pp. 99-106, 2002
[11] K. Chinzei, and K. Miller , “MR Guided Surgical Robot”, Proc. 2001 Australian Conference on Robotics and Automation, Sydney, 2001
[12] R. Moser, R. Gassert, E. Burdet, L. Sache, H. Woodtli, J. Erni, W. Maeder, and H. Bleuler, “An MR-compatibleRobot Technology”, Proc. Of the 2003 IEEE, International Conference on Robotics & Automation, 2003.
[13] Y. Koseki, T. Washio, K. Chinzei, H. Iseki, "Endoscope Manipulator for Trans-nasal Neurosurgery, Optimized for and Compatible to Vertical Field Open MRI", Proc. of MICCAI 2002, Part I, pp. 114-121, 2002
[14] M. Flueckiger, M. M. Bullo et al., “FMRI compatible haptic interface actuated with traveling wave ultrasonic motor” IAS Annual Meeting (IEEE Industry Applications Society), Vol. 3, 40th IAS Annual Meeting, pp. 2075-2082, 2005
[15] N. Miyata , E. Kobayashi, D. Kim, K. Masamue et al, “Micro-grasping Forceps Manipulator for MR-Guided Neurosurgery”, MICCAI2002, pp. 107-113, 2002.
[16] Calgary HealthTrust, www.cbi.ucalgary.ca/CHT ,2004
[17] R. Nakamura, K. Masamune, Y. Nishikawa, E. Koboayashi, I. Sakuma,T. Dohi, H. Iseki, K. Takakura, “Development of a sterilizable MRI-compatible manipulator for stereotactic neurosurgery, Proc. Of Computer Assisted Radio Surgery (CAR’99),1999.
[18] R. Taylor and D. Stoianovici, “Medical Robotics in Computer-Integrated Surgery”, IEEE Transaction on Robotics and Automation, Vol. 32, No. 5, pp. 765-781, 2003.

comments powered by Disqus

Copyright © 2014 by authors and Scientific Research Publishing Inc.

Creative Commons License

This work and the related PDF file are licensed under a Creative Commons Attribution 4.0 International License.