Hostname: page-component-7c8c6479df-995ml Total loading time: 0 Render date: 2024-03-19T05:00:17.088Z Has data issue: false hasContentIssue false

Kinematic analysis of a 5-DOF hybrid-driven MR compatible robot for minimally invasive prostatic interventions

Published online by Cambridge University Press:  12 January 2012

Shan Jiang*
Affiliation:
School of Mechanical Engineering, Tianjin University, Tianjin, China
Jie Guo
Affiliation:
School of Mechanical Engineering, Tianjin University, Tianjin, China
Shen Liu
Affiliation:
School of Mechanical Engineering, Tianjin University, Tianjin, China
Jun Liu
Affiliation:
Department of Magnetic Resonance, Tianjin Union Medicine Centre, Tianjin, China
Jun Yang
Affiliation:
Department of Magnetic Resonance, Tianjin Union Medicine Centre, Tianjin, China
*
*Corresponding author. E-mail: shanjiang@tju.edu.cn

Summary

This paper introduces the design and kinematic analysis of a 5-DOF (multiple degree of freedom) hybrid-driven MR (Magnetic Resonance) compatible robot for prostate brachytherapy. It can slip the leash of template and rely on the high precise of MR imaging. After a brief introduction on design requirements of MR compatible robot, a description of our robot structure, material selection, hybrid-driven, and control architecture are presented. Secondly, the forward kinematics equations are obtained according to the equivalent diagram of this robot, and the actual workspace can be outlined. This will help the designer to determine whether this robot can be operated in the MR core without intervention with patient. And then, the inverse kinematics equations combined with trajectory planning are used to calculate the actuators movement. This will help the control system to manipulate the robotic accurately. Finally, vision based experiments on phantoms are used to verify the mechanism precision. As the results shown, the needle tip precision of mechanism is 0.9 mm in the general lab environment.

Type
Articles
Copyright
Copyright © Cambridge University Press 2012

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Jemal, A., Siegel, R., Ward, E., Hao, Y. P., Xu, J. Q. and Thun, M. J., “Cancer statistics,” CA Cancer J. Clin. 59, 225249 (2009).CrossRefGoogle ScholarPubMed
2. Tornes, A. and Eriksen, M., “A new brachytherapy seed design for improved ultrasound visualisation,” Ultrasonics 2, 12781283 (2009).Google Scholar
3. Jiang, S., Hata, N. and Kikinis, R., “Needle Insertion Simulation for Image-Guided Brachytherapy of Prostate Cancer,” International Conference of Bioinformatics Biomedical Engineering, iCBBE (2008) pp. 1682–1685.Google Scholar
4. Krieger, A., Susil, R. C., Menard, C., Fichtinger, G., Atalar, E. and Whitcomb, L., “Design of a novel MRI compatible manipulator for image guided prostate interventions,” IEEE Trans. Biomed. Eng. 52 (2), 306313 (2005).CrossRefGoogle ScholarPubMed
5. Lin, L. Y., Patel, R. R., Thomadsen, B. R. and Henderson, D. L., “The use of directional interstitial sources to improve dosimetry in breast brachytherapy,” Med. Phys. 35 (1), 240247 (2008).CrossRefGoogle ScholarPubMed
6. Meltsner, M. A., Design and Optimization of a Brachytherapy Robot Ph.D. Dissertation (Madison, WI: University of Wisconsin, 2007).Google Scholar
7. Shiow, C. S., Huang, C. C. and Chen, C. S., “Development of image-guided robotic system for surgical positioning and drilling,” Robotica 55, 375383 (2007).Google Scholar
8. Dai, J. S., “Surgical robotics and its development and progress,” Robotica 28, 161 (2010).CrossRefGoogle Scholar
9. Goldenberg, A. A., Trachtenberg, J., Yi, Y., Weersink, R., Sussman, M. S., Haider, M., Ma, L. and Kucharczyk, W., “Robot-assisted MRI-guided prostatic interventions,” Robotica 28, 215234 (2010).CrossRefGoogle Scholar
10. Liu, D., Wang, T. M., Tang, C. and Zhang, F., “A hybrid robot system for CT-guided surgery,” Robotica 28, 253258 (2010).CrossRefGoogle Scholar
11. Huang, Q., Bian, G. B., Duan, X. G., Zhao, H. H. and Liang, P., “An ultrasound-directed robotic system for microwave ablation of liver cancer,” Robotica 28, 209214 (2010).CrossRefGoogle Scholar
12. Bassan, H., Hayes, T., Patel, R. V. and Moallem, M., “A Novel Manipulator for 3D Ultrasound Guided Percutaneous Needle Insertion,” Proceedings of IEEE International Conference on Robotic and Automation, Roma, Italy (2007) pp. 617622.CrossRefGoogle Scholar
13. Salcudean, S. E., Prananta, T. D., Morris, W. J. and Spadinger, I., “A Robotic Needle Guide for Prostate Brachytherapy,” Proceedings of IEEE International Conference on Robotics and Automation, Pasadena, CA (2008) pp. 29752981.Google Scholar
14. Yu, Y., Podder, T., Zhang, Y. D., Ng, W S., Misic, V., Sherman, J., Fu, L., Fuller, D., Rubens, D. J., Strang, J. D., Brasacchio, R. A. and Messing, E. M., “Robot-assisted prostate brachytherapy,” Med. Image Comput. Comput. Assist. Interv. 9 (1), 4149 (2007).Google Scholar
15. Yu, K. K. and Hricak, H., “Imaging prostate cancer,” Radiol. Clin. North Am. 38 (1), 5985 (2000).CrossRefGoogle ScholarPubMed
16. Stoianovici, D., Song, D., Petrisor, D., Ursu, D., Mazilu, D., Mutener, M., Schar, M. and Patriciu, A., “MRI stealth robot for prostate interventions,” Minim. Invasive Ther. 16 (4), 241248 (2007).CrossRefGoogle ScholarPubMed
17. Fischer, G. S., Iordachita, J. and Fichtinger, G., “Design of a robot for transperineal prostate needle placement in MRI scanner,” Mechatronics Conference on Digital Object Identifier (2006) pp. 592–597.Google Scholar
18. Song, S. E., Cho, N. B., Fischer, G., Hata, N., Tempany, C., Fichtinger, G. and Iordachita, I., “Development of a pneumatic robot for MRI-guided transperineal prostate biopsy and brachytherapy: New approaches,” IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA (2010) pp. 25802585.Google Scholar
19. Haker, S., Mulkem, R. V., Roebuck, J. R., Roebuck, J. R., Barnes, A. S., DiMaio, S., Hata, N. and Tempany, C., “Magnetic resonance-guided prostate interventions,” J. Magn. Reson. Imaging 16, 355682 (2005).CrossRefGoogle ScholarPubMed
20. Taschereau, R., Pouliot, J., Jean, T. and Tremblay, D., “Seed misplacement and stabilizing needles in transperineal permanent prostate implants,” Radiother. Oncol. 55, 593631 (2000).CrossRefGoogle ScholarPubMed
21. Alterovitz, R., Goldberg, K. Y, Pouliot, J and Hsu, I. C.Sensorless planning for medical needle insertion in deformable tissues,” IEEE T Inf. Technol. B 13 (2), 217225 (2009).CrossRefGoogle ScholarPubMed
22. Jiang, S., Liu, X. Y. and Song, Y. C., “3D Trajectory Planning Based on FEM with Application of Brachytherapy,” Proceedings of International Conference Biomedical Engineering Informatics, BMEI, Tianjin, China (2009) pp. 15.Google Scholar