01 January 2001
Towards MRI guided surgical manipulator.
Kiyoyuki Chinzei, Karol MillerMed Sci Monit 2001; 7(1): MT153-163 :: ID: 421169
Abstract
BACKGROUND: The advantages of surgical robots and manipulators are wellrecognized in the clinical and technical community. Precision, accuracy and the potential for telesurgeryare the prime motivations in applying advanced robot technology in surgery. In this paper critical interactionsbetween Magnetic Resonance Imaging equipment and mechatronic devices are discussed and a novel MagneticResonance compatible surgical robot is described.
MATERIAL AND METHODS: Experimental results of the effectsfrom several passive (metallic materials) and active (ultrasound motors) mechanical elements are demonstrated.The design principles for Magnetic Resonance compatible robots are established and the compatibilityof the proposed robot is assessed by comparing images taken with and without the robot's presence withinSigna SP/I GE Medical Systems scanner.
RESULTS: The results showed that, in principle, it is possibleto construct precision mechatronic devices intended to operate inside MR scanner. Use of such a devicewill not cause image shift or significant degradation of signal-to-noise-ratio. An MR compatible surgicalassist robot was designed and constructed. The robot is not affected by the presence of strong magneticfields and is able to manoeuvre during imaging without compromising the quality of images. A novel image-guidedrobot control scheme was proposed. As a part of the control scheme, biomechanics-based organ deformationmodel was constructed and validated by in-vivo experiment. It has been recognised that for robust controlof an image guided surgical robot the precise knowledge of the mechanical properties of soft organs operatedon must be known. As an illustration, results in mathematical modelling and computer simulation of braindeformation are given.
CONCLUSION: The novel MR compatible robot was designed to position and directan axisymmetric tool, such as a laser pointer or a biopsy catheter. New Robot control system based onthe prediction of soft organ deformation was proposed.
Keywords: magnetic resonance compatibility, surgical robot, Brain, mechanical properties, finite element method
Editorial
01 March 2024 : Editorial
Editorial: First Regulatory Approvals for CRISPR-Cas9 Therapeutic Gene Editing for Sickle Cell Disease and Transfusion-Dependent β-ThalassemiaDOI: 10.12659/MSM.944204
Med Sci Monit 2024; 30:e944204
In Press
18 Mar 2024 : Clinical Research
Sexual Dysfunction in Women After Tibial Fracture: A Retrospective Comparative StudyMed Sci Monit In Press; DOI: 10.12659/MSM.944136
21 Feb 2024 : Clinical Research
Potential Value of HSP90α in Prognosis of Triple-Negative Breast CancerMed Sci Monit In Press; DOI: 10.12659/MSM.943049
22 Feb 2024 : Review article
Differentiation of Native Vertebral Osteomyelitis: A Comprehensive Review of Imaging Techniques and Future ...Med Sci Monit In Press; DOI: 10.12659/MSM.943168
23 Feb 2024 : Clinical Research
A Study of 60 Patients with Low Back Pain to Compare Outcomes Following Magnetotherapy, Ultrasound, Laser, ...Med Sci Monit In Press; DOI: 10.12659/MSM.943732
Most Viewed Current Articles
16 May 2023 : Clinical Research
Electrophysiological Testing for an Auditory Processing Disorder and Reading Performance in 54 School Stude...DOI :10.12659/MSM.940387
Med Sci Monit 2023; 29:e940387
17 Jan 2024 : Review article
Vaccination Guidelines for Pregnant Women: Addressing COVID-19 and the Omicron VariantDOI :10.12659/MSM.942799
Med Sci Monit 2024; 30:e942799
14 Dec 2022 : Clinical Research
Prevalence and Variability of Allergen-Specific Immunoglobulin E in Patients with Elevated Tryptase LevelsDOI :10.12659/MSM.937990
Med Sci Monit 2022; 28:e937990
01 Jan 2022 : Editorial
Editorial: Current Status of Oral Antiviral Drug Treatments for SARS-CoV-2 Infection in Non-Hospitalized Pa...DOI :10.12659/MSM.935952
Med Sci Monit 2022; 28:e935952