Towards MRI guided surgical manipulator.

BACKGROUND The advantages of surgical robots and manipulators are well recognized in the clinical and technical community. Precision, accuracy and the potential for telesurgery are the prime motivations in applying advanced robot technology in surgery. In this paper critical interactions between Magnetic Resonance Imaging equipment and mechatronic devices are discussed and a novel Magnetic Resonance compatible surgical robot is described. MATERIAL AND METHODS Experimental results of the effects from several passive (metallic materials) and active (ultrasound motors) mechanical elements are demonstrated. The design principles for Magnetic Resonance compatible robots are established and the compatibility of the proposed robot is assessed by comparing images taken with and without the robot's presence within Signa SP/I GE Medical Systems scanner. RESULTS The results showed that, in principle, it is possible to construct precision mechatronic devices intended to operate inside MR scanner. Use of such a device will not cause image shift or significant degradation of signal-to-noise-ratio. An MR compatible surgical assist robot was designed and constructed. The robot is not affected by the presence of strong magnetic fields and is able to manoeuvre during imaging without compromising the quality of images. A novel image-guided robot control scheme was proposed. As a part of the control scheme, biomechanics-based organ deformation model was constructed and validated by in-vivo experiment. It has been recognised that for robust control of an image guided surgical robot the precise knowledge of the mechanical properties of soft organs operated on must be known. As an illustration, results in mathematical modelling and computer simulation of brain deformation are given. CONCLUSION The novel MR compatible robot was designed to position and direct an axisymmetric tool, such as a laser pointer or a biopsy catheter. New Robot control system based on the prediction of soft organ deformation was proposed.

[1]  Yorktown Heights,et al.  An Image-directed Robotic System for Precise Orthopaedic Surgery , 1990 .

[2]  P. Flury,et al.  Conception of stereotactic instruments for the neurosurgical robot minerva , 1992, 1992 14th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[3]  K. Hynynen,et al.  MRI-guided noninvasive ultrasound surgery. , 1993, Medical physics.

[4]  F. Shellock Pocket Guide to MR Procedures and Metallic Objects : Update 1994 , 1994 .

[5]  R. Kikinis,et al.  Imaging System for Image-guided Therapy' , 1995 .

[6]  H Iseki,et al.  Development of an MRI-compatible needle insertion manipulator for stereotactic neurosurgery. , 1995, Journal of image guided surgery.

[7]  F. Jolesz,et al.  Interactive MR-guided biopsy in an open-configuration MR imaging system. , 1995, Radiology.

[8]  P. N. Brett,et al.  Automatic surgical tools for penetrating flexible tissues , 1995 .

[9]  Paul S. Schenker,et al.  A New Robot for High Dexterity Microsurgery , 1995, CVRMed.

[10]  J. Schenck The role of magnetic susceptibility in magnetic resonance imaging: MRI magnetic compatibility of the first and second kinds. , 1996, Medical physics.

[11]  Grigore C. Burdea,et al.  Force and Touch Feedback for Virtual Reality , 1996 .

[12]  K. Chinzei,et al.  Constitutive modelling of brain tissue: experiment and theory. , 1997, Journal of biomechanics.

[13]  A. D'Amico,et al.  Real-time magnetic resonance image-guided interstitial brachytherapy in the treatment of select patients with clinically localized prostate cancer. , 1998, International journal of radiation oncology, biology, physics.

[14]  Ron Kikinis,et al.  MR Compatibility of Mechatronic Devices: Design Criteria , 1999, MICCAI.

[15]  K. Miller,et al.  Constitutive model of brain tissue suitable for finite element analysis of surgical procedures. , 1999, Journal of biomechanics.

[16]  W. Eric L. Grimson,et al.  An Integrated Visualization System for Surgical Planning and Guidance Using Image Fusion and Interventional Imaging , 1999, MICCAI.

[17]  Nobuhiko Hata,et al.  MR Compatible Surgical Assist Robot: System Integration and Preliminary Feasibility Study , 2000, MICCAI.

[18]  K Miller,et al.  Mechanical properties of brain tissue in-vivo: experiment and computer simulation. , 2000, Journal of biomechanics.

[19]  Russell H. Taylor,et al.  Distributed Modular Computer-Integrated Surgical Robotic Systems: Architecture for Intelligent Object Distribution , 2000, MICCAI.