Real-time MRI-Guided Needle Placement Robot with Integrated Fiber Optic Force Sensing
This paper presents the .rst prototype of a magnetic resonance imaging (MRI) compatible piezoelectric actuated robot integrated with a high-resolution .ber optic sensor for prostate brachytherapy with real-time in situ needle steering capability in 3T MRI. The 6-degrees-of-freedom (DOF) robot consists of a modular 3-DOF needle driver with .ducial tracking frame and a 3-DOF actuated Cartesian stage. The needle driver provides needle cannula rotation and translation (2-DOF) and stylet translation (1-DOF). The driver mimics the manual physician gesture by two point grasping. To render proprioception associated with prostate interventions, a Fabry- Perot interferometer based .ber optic strain sensor is designed to provide high-resolution axial needle insertion force measurement and is robust to large range of temperature variation. The paper explains the robot mechanism, controller design, optical modeling and opto-mechanical design of the force sensor. MRI compatibility of the robot is evaluated under 3T MRI using standard prostate imaging sequences and average signal noise ratio (SNR) loss is limited to 2％ during actuator motion. A dynamic needle insertion is performed and bevel tip needle steering capability is demonstrated under continuous real-time MRI guidance, both with no visually identi.able interference during robot motion. Fiber optic sensor calibration validates the theoretical modeling with satisfactory sensing range and resolution for prostate intervention.
Optical Force Sensor Fabry-Perot Interferometer MRI Compatibility Needle Driver Brachytherapy
Hao Su Michael Zervas Gregory A. Cole Cosme Furlong Gregory S. Fischer
Automation and Interventional Medicine (AIM) Robotics Laboratory,Department of Mechanical Engineerin Center for Holographic Studies and Laser micro-mechaTronics (CHSLT) and NanoEngineering,Science and
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1583-1588
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）