H-Index
75
Scimago Lab
powered by Scopus
JCR
Clarivate
Analytics
18%
Acceptance
Rate
call: +1.631.470.9640
Mon-Fri 10 am - 2 pm EST

Logo



eISSN: 1643-3750

Get your full text copy in PDF

Towards MRI guided surgical manipulator.

Kiyoyuki Chinzei, Karol Miller

Med Sci Monit 2001; 7(1): MT153-163

ID: 421169


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.

This paper has been published under Creative Common Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) allowing to download articles and share them with others as long as they credit the authors and the publisher, but without permission to change them in any way or use them commercially.
I agree