A Modular Approach to MRI-Compatible Robotics

The objective of the research described in this article is to create individual MR-compatible modules consisting of 1-DoF stages complete with actuators and position encoders for implementation of the closed-loop position control. These modules can connect together to form multi-DoF assemblies that can be located inside the scanner bore near to the patient anatomy that requires the intervention. This avoids the problems associated with remote actuation and transmission mechanisms, considerably reducing the size of the manipulator. As most robots consist of kinematic chains of 1-DoF stages, these modules would be suitable for a wide range of interventions, and their design can be optimized for the procedure for which they are applied to.

[1]  Nikolaos V Tsekos,et al.  A prototype manipulator for magnetic resonance-guided interventions inside standard cylindrical magnetic resonance imaging scanners. , 2005, Journal of biomechanical engineering.

[2]  D. Beyersdorff,et al.  MR imaging-guided prostate biopsy with a closed MR unit at 1.5 T: initial results. , 2005, Radiology.

[3]  R Kikinis,et al.  Interventional and intraoperative magnetic resonance imaging. , 2000, Annual review of biomedical engineering.

[4]  Essa Yacoub,et al.  Design of an MRI-compatible robotic stereotactic device for minimally invasive interventions in the breast. , 2004, Journal of biomechanical engineering.

[5]  M Lampérth,et al.  A Review of Magnetic Resonance Imaging Compatible Manipulators in Surgery , 2006, Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine.

[6]  Kenji Uchino.  Piezoelectric ultrasonic motors: overview , 1998 .

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

[8]  C. N. Coleman,et al.  System for prostate brachytherapy and biopsy in a standard 1.5 T MRI scanner , 2004, Magnetic resonance in medicine.

[9]  M. Bock,et al.  An MRI-Compatible Surgical Robot for Precise Radiological Interventions , 2003, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[10]  Werner A. Kaiser,et al.  ROBITOM II: robot for biopsy and therapy of the mamma , 2004, 2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583).

[11]  Nobuhiko Hata,et al.  Surgical assist robot for the active navigation in the intraoperative MRI: hardware design issues , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[12]  R. Gassert,et al.  MRI/fMRI-compatible robotic system with force feedback for interaction with human motion , 2006, IEEE/ASME Transactions on Mechatronics.

[13]  Nobuhiko Hata,et al.  Needle Guiding Robot with Five-Bar Linkage for MR-Guided Thermotherapy of Liver Tumor , 2004, MICCAI.

[14]  Ferenc A Jolesz,et al.  Intraoperative and interventional MRI: Recommendations for a safe environment , 2006, Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy.

[15]  Ivan Bricault,et al.  CT and MR Compatible Light Puncture Robot: Architectural Design and First Experiments , 2004, MICCAI.

[16]  Gabor Fichtinger,et al.  Design of a novel MRI compatible manipulator for image guided prostate interventions , 2005, IEEE Transactions on Biomedical Engineering.

[17]  W. Kaiser,et al.  Robotic system for biopsy and therapy of breast lesions in a high-field whole-body magnetic resonance tomography unit. , 2000, Investigative radiology.

[18]  Kiyoyuki Chinzei,et al.  A Critical Tool for Image-Guided Interventions, Clinical Diagnostics, and Neuroscience , 2008 .