Compact Design of a Hydraulic Driving Robot for Intraoperative MRI-Guided Bilateral Stereotactic Neurosurgery
| Autor: | Chim Lee Cheung, Ka-Wai Kwok, Kit-Hang Lee, Justin D. L. Ho, Hing-Choi Fu, Wai Sang Poon, Haokun He, Danny Tat Ming Chan, Ziyang Dong, Ziyan Guo |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Deep brain stimulation Bar (music) Computer science medicine.medical_treatment Biomedical Engineering 02 engineering and technology Tracking (particle physics) Intraoperative MRI 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine Interference (communication) Artificial Intelligence medicine medicine.diagnostic_test Mechanical Engineering Magnetic resonance imaging Computer Science Applications Human-Computer Interaction Control and Systems Engineering Electromagnetic coil Robot Computer Vision and Pattern Recognition Fiducial marker 030217 neurology & neurosurgery Biomedical engineering |
| Zdroj: | IEEE Robotics and Automation Letters. 3:2515-2522 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2018.2814637 |
| Popis: | In this letter, we present an intraoperative magnetic resonance imaging (MRI)-guided robot for bilateral stereotactic procedures. Its compact design enables robot's operation within the constrained space of standard imaging head coil. magnetic resonance (MR) safe and high-performance hydraulic transmissions are incorporated. A maximum stiffness coefficient of 24.35 N/mm can be achieved with transmission fluid preloaded at 2 bar. Sufficient targeting accuracy (average within ≤1.73 mm) has been demonstrated in a simulated needle insertion task of deep brain stimulation. A novel MR-based wireless tracking technique is adopted. It is capable of offering real-time and continuous (30-40 Hz) three-dimensional (3-D) localization of robotic instrument under the proper MR tracking sequence. It outperforms the conventional method of using low-contrast passive fiducials that can only be revealed in the MR image domain. Two wireless tracking units/markers are integrated with the robot, which are two miniaturized coil circuits in size of 1.5 × 5 × 0.2 mm 3 , fabricated on flexible thin films. A navigation test was performed under the standard MRI settings in order to visualize the 3-D localization of the robotic instrument. MRI compatibility test was also carried out to prove the minimal interference to MR images of the presented hydraulic robotic platform. |
| Databáze: | OpenAIRE |
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