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Huang Z, Alkhars H, Gunderman A, Sigounas D, Cleary K, Chen Y. Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal. JOURNAL OF MECHANISMS AND ROBOTICS 2024; 16:081005. [PMID: 38434486 PMCID: PMC10906783 DOI: 10.1115/1.4063979] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/05/2024]
Abstract
Purpose The purpose of this paper is to investigate the geometrical design and path planning of Concentric tube robots (CTR) for intracerebral hemorrhage (ICH) evacuation, with a focus on minimizing the risk of damaging white matter tracts and cerebral arteries. Methods To achieve our objective, we propose a parametrization method describing a general class of CTR geometric designs. We present mathematical models that describe the CTR design constraints and provide the calculation of a path risk value. We then use a genetic algorithm to determine the optimal tube geometry for targeting within the brain. Results Our results show that a multi-tube CTR design can significantly reduce the risk of damaging critical brain structures compared to the conventional straight tube design. However, there is no significant relationship between the path risk value and the number and shape of the additional inner curved tubes. Conclusion Considering the challenges of CTR hardware design, fabrication, and control, we conclude that the most practical geometry for a CTR path in ICH treatment is a straight outer tube followed by a planar curved inner tube. These findings have important implications for the development of safe and effective CTRs for ICH evacuation by enabling dexterous manipulation to minimize damage to critical brain structures.
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Affiliation(s)
- Zhefeng Huang
- Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA
| | - Hussain Alkhars
- George Washington University School of Medicine, Washington, DC, USA
| | - Anthony Gunderman
- Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA
| | - Dimitri Sigounas
- George Washington University School of Medicine, Washington, DC, USA
| | - Kevin Cleary
- Sheikh Zayed Institute for Pediatric Surgical Innovation, Children’s National Health System, Washington, DC, USA
| | - Yue Chen
- Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA
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Tiryaki ME, Elmacıoğlu YG, Sitti M. Magnetic guidewire steering at ultrahigh magnetic fields. SCIENCE ADVANCES 2023; 9:eadg6438. [PMID: 37126547 PMCID: PMC10132757 DOI: 10.1126/sciadv.adg6438] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/03/2023]
Abstract
With remote magnetic steering capabilities, magnetically actuated guidewires have proven their potential in minimally invasive medical procedures. Existing magnetic steering strategies, however, have been limited to low magnetic fields, which prevents the integration into medical systems operating at ultrahigh fields (UHF), such as magnetic resonance imaging (MRI) scanners. Here, we present magnetic guidewire design and steering strategies by elucidating the magnetic actuation principles of permanent magnets at UHF. By modeling the uniaxial magnetization behavior of permanent magnets, we outline the magnetic torque and force and demonstrate unique magnetic actuation opportunities at UHF, such as in situ remagnetization. Last, we illustrate the proposed steering principles using a magnetic guidewire composed of neodymium magnets and a fiber optic rod in a 7-Tesla preclinical MRI scanner. The developed UHF magnetic actuation framework would enable next-generation magnetic robots to operate inside MRI scanners.
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Affiliation(s)
- Mehmet Efe Tiryaki
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering ETH, Zurich, 8092 Zurich, Switzerland
| | - Yiğit Günsür Elmacıoğlu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering ETH, Zurich, 8092 Zurich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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3
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Su H, Kwok KW, Cleary K, Iordachita I, Cavusoglu MC, Desai JP, Fischer GS. State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions. PROCEEDINGS OF THE IEEE. INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS 2022; 110:968-992. [PMID: 35756185 PMCID: PMC9231642 DOI: 10.1109/jproc.2022.3169146] [Citation(s) in RCA: 17] [Impact Index Per Article: 8.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/17/2023]
Abstract
Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of target anatomy, surrounding tissue, and instrumentation, but there are significant challenges in harnessing it for effectively guiding interventional procedures. Challenges include the strong static magnetic field, rapidly switching magnetic field gradients, high-power radio frequency pulses, sensitivity to electrical noise, and constrained space to operate within the bore of the scanner. MRI has a number of advantages over other medical imaging modalities, including no ionizing radiation, excellent soft-tissue contrast that allows for visualization of tumors and other features that are not readily visible by other modalities, true 3-D imaging capabilities, including the ability to image arbitrary scan plane geometry or perform volumetric imaging, and capability for multimodality sensing, including diffusion, dynamic contrast, blood flow, blood oxygenation, temperature, and tracking of biomarkers. The use of robotic assistants within the MRI bore, alongside the patient during imaging, enables intraoperative MR imaging (iMRI) to guide a surgical intervention in a closed-loop fashion that can include tracking of tissue deformation and target motion, localization of instrumentation, and monitoring of therapy delivery. With the ever-expanding clinical use of MRI, MRI-compatible robotic systems have been heralded as a new approach to assist interventional procedures to allow physicians to treat patients more accurately and effectively. Deploying robotic systems inside the bore synergizes the visual capability of MRI and the manipulation capability of robotic assistance, resulting in a closed-loop surgery architecture. This article details the challenges and history of robotic systems intended to operate in an MRI environment and outlines promising clinical applications and associated state-of-the-art MRI-compatible robotic systems and technology for making this possible.
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Affiliation(s)
- Hao Su
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695 USA
| | - Ka-Wai Kwok
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong
| | - Kevin Cleary
- Children's National Health System, Washington, DC 20010 USA
| | - Iulian Iordachita
- Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD 21218 USA
| | - M Cenk Cavusoglu
- Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH 44106 USA
| | - Jaydev P Desai
- Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 USA
| | - Gregory S Fischer
- Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA 01609 USA
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Zhou P, Yao J, Wei C, Zhang S, Zhang H, Qi S. Design and kinematic of a dexterous bioinspired elephant trunk robot with variable diameter. BIOINSPIRATION & BIOMIMETICS 2022; 17:046016. [PMID: 35609564 DOI: 10.1088/1748-3190/ac72e0] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/31/2022] [Accepted: 05/24/2022] [Indexed: 06/15/2023]
Abstract
How to further improve the dexterity of continuum robots so that they can quickly change their structural size like flexible biological organs is a key challenge in the field of robotics. To tackle this dexterity challenge, this paper proposes a soft-rigid coupled bioinspired elephant trunk robot with variable diameter, which is enabled by combining a soft motion mechanism with a novel rigid variable-diameter mechanism (double pyramid deployable mechanism). The integration of these two mechanisms has produced three significant beneficial effects: (i) The coexistence of multi-degree-of-freedom motion capability and variable size function greatly improves the dexterity of the elephant trunk robot. (ii) The motion refinement can be improved by structural amplification, making up for the low resolution of soft actuators. (iii) Its stiffness can be increased by enlarging its diameter, while its reachable workspace can be increased by decreasing its diameter. Thus, the elephant trunk robot can optimize its performance when facing different tasks by opening and closing the rigid variable-diameter mechanism. Further, we established a kinematic model of the elephant trunk robot by the structure discretization method and the principle of mechanism equivalence, and experimentally verified its reasonableness. The demonstration experiments show that the elephant trunk robot has good flexibility. This work provides a new variable diameter configuration for continuum robots, and presents a method of how to analyze the kinematics of continuum mechanisms using rigid mechanism theory.
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Affiliation(s)
- Pan Zhou
- Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, 066004, People's Republic of China
| | - Jiantao Yao
- Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, 066004, People's Republic of China
- Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao, 066004, People's Republic of China
| | - Chunjie Wei
- Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, 066004, People's Republic of China
| | - Shuai Zhang
- Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, 066004, People's Republic of China
| | - Hongyu Zhang
- Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, 066004, People's Republic of China
- Faculty of Science and Engineering, University of Groningen, 9747 AG Groningen, The Netherlands
| | - Shupeng Qi
- Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, 066004, People's Republic of China
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5
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Phelan MF, Tiryaki ME, Lazovic J, Gilbert H, Sitti M. Heat-Mitigated Design and Lorentz Force-Based Steering of an MRI-Driven Microcatheter toward Minimally Invasive Surgery. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2105352. [PMID: 35112810 PMCID: PMC8981448 DOI: 10.1002/advs.202105352] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/21/2021] [Revised: 01/08/2022] [Indexed: 05/11/2023]
Abstract
Catheters integrated with microcoils for electromagnetic steering under the high, uniform magnetic field within magnetic resonance (MR) scanners (3-7 Tesla) have enabled an alternative approach for active catheter operations. Achieving larger ranges of tip motion for Lorentz force-based steering have previously been dependent on using high power coupled with active cooling, bulkier catheter designs, or introducing additional microcoil sets along the catheter. This work proposes an alternative approach using a heat-mitigated design and actuation strategy for a magnetic resonance imaging (MRI)-driven microcatheter. A quad-configuration microcoil (QCM) design is introduced, allowing miniaturization of existing MRI-driven, Lorentz force-based catheters down to 1-mm diameters with minimal power consumption (0.44 W). Heating concerns are experimentally validated using noninvasive MRI thermometry. The Cosserat model is implemented within an MR scanner and results demonstrate a desired tip range up to 110° with 4° error. The QCM is used to validate the proposed model and power-optimized steering algorithm using an MRI-compatible neurovascular phantom and ex vivo kidney tissue. The power-optimized tip orientation controller conserves as much as 25% power regardless of the catheter's initial orientation. These results demonstrate the implementation of an MRI-driven, electromagnetic catheter steering platform for minimally invasive surgical applications without the need for camera feedback or manual advancement via guidewires. The incorporation of such system in clinics using the proposed design and actuation strategy can further improve the safety and reliability of future MRI-driven active catheter operations.
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Affiliation(s)
- Martin Francis Phelan
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Mehmet Efe Tiryaki
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Institute for Biomedical EngineeringETH ZurichZurich8092Switzerland
| | - Jelena Lazovic
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
| | - Hunter Gilbert
- Department of Mechanical and Industrial EngineeringLouisiana State UniversityBaton RougeLA70803USA
| | - Metin Sitti
- Physical Intelligence DepartmentMax Planck Institute for Intelligent Systems70569StuttgartGermany
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
- Institute for Biomedical EngineeringETH ZurichZurich8092Switzerland
- College of Engineering and School of MedicineKoç UniversityIstanbul34450Turkey
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6
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Jalali A, Janabi-Sharifi F. Dynamic Modeling of Tendon-Driven Co-Manipulative Continuum Robots. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2021.3137535] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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7
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Rate-Dependent Modeling of Piezoelectric Actuators for Nano Manipulation Based on Fractional Hammerstein Model. MICROMACHINES 2021; 13:mi13010042. [PMID: 35056206 PMCID: PMC8778227 DOI: 10.3390/mi13010042] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/03/2021] [Revised: 12/21/2021] [Accepted: 12/26/2021] [Indexed: 11/18/2022]
Abstract
Piezoelectric actuators (PEAs), as a smart material with excellent characteristics, are increasingly used in high-precision and high-speed nano-positioning systems. Different from the usual positioning control or fixed frequency tracking control, the more accurate rate-dependent PEA nonlinear model is needed in random signal dynamic tracking control systems such as active vibration control. In response to this problem, this paper proposes a Hammerstein model based on fractional order rate correlation. The improved Bouc-Wen model is used to describe the asymmetric hysteresis characteristics of PEA, and the fractional order model is used to describe the dynamic characteristics of PEA. The nonlinear rate-dependent hysteresis model can be used to accurately describe the dynamic characteristics of PEA. Compared with the integer order model or linear autoregressive model to describe the dynamic characteristics of the PEA Hammerstein model, the modeling accuracy is higher. Moreover, an artificial bee colony algorithm (DE-ABC) based on differential evolution was proposed to identify model parameters. By adding the mutation strategy and chaos search of the genetic algorithm into the previous ABC, the convergence speed of the algorithm is faster and the identification accuracy is higher, and the simultaneous identification of order and coefficient of the fractional model is realized. Finally, by comparing the simulation and experimental data of multiple sets of sinusoidal excitation with different frequencies, the effectiveness of the proposed modeling method and the accuracy and rapidity of the identification algorithm are verified. The results show that, in the wide frequency range of 1–100 Hz, the proposed method can obtain more accurate rate-correlation models than the Bouc-Wen model, the Hammerstein model based on integer order or the linear autoregressive model to describe dynamic characteristics. The maximum error (Max error) is 0.0915 μm, and the maximum mean square error (RMSE) is 0.0244.
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8
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Wang Y, Li G, Kwok KW, Cleary K, Taylor RH, Iordachita I. Towards Safe In Situ Needle Manipulation for Robot Assisted Lumbar Injection in Interventional MRI. PROCEEDINGS OF THE ... IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS. IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 2021; 2021:1835-1842. [PMID: 35173994 PMCID: PMC8845499 DOI: 10.1109/iros51168.2021.9636220] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Lumbar injection is an image-guided procedure performed manually for diagnosis and treatment of lower back pain and leg pain. Previously, we have developed and verified an MR-Conditional robotic solution to assisting the needle insertion process. Drawing on our clinical experiences, a virtual remote center of motion (RCM) constraint is implemented to enable our robot to mimic a clinician's hand motion to adjust the needle tip position in situ. Force and image data are collected to study the needle behavior in gel phantoms during this motion, and a mechanics-based needle-tissue interaction model is proposed and evaluated to further examine the underlying physics. This work extends the commonly-adopted notion of an RCM for flexible needles, and introduces new motion parameters to describe the needle behavior. The model parameters can be tuned to match the experimental result to sub-millimeter accuracy, and this proposed needle manipulation method presents a safer alternative to laterally translating the needle during in situ needle adjustments.
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Affiliation(s)
- Yanzhou Wang
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland, USA
| | - Gang Li
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland, USA
| | - Ka-Wai Kwok
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong
| | - Kevin Cleary
- Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Hospital, Washington, DC, USA
| | - Russell H Taylor
- Department of Computer Science and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland, USA
| | - Iulian Iordachita
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, Maryland, USA
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9
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Fang G, Chow MCK, Ho JDL, He Z, Wang K, Ng TC, Tsoi JKH, Chan PL, Chang HC, Chan DTM, Liu YH, Holsinger FC, Chan JYK, Kwok KW. Soft robotic manipulator for intraoperative MRI-guided transoral laser microsurgery. Sci Robot 2021; 6:6/57/eabg5575. [PMID: 34408096 DOI: 10.1126/scirobotics.abg5575] [Citation(s) in RCA: 24] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/15/2021] [Accepted: 07/27/2021] [Indexed: 01/14/2023]
Abstract
Magnetic resonance (MR) imaging (MRI) provides compelling features for the guidance of interventional procedures, including high-contrast soft tissue imaging, detailed visualization of physiological changes, and thermometry. Laser-based tumor ablation stands to benefit greatly from MRI guidance because 3D resection margins alongside thermal distributions can be evaluated in real time to protect critical structures while ensuring adequate resection margins. However, few studies have investigated the use of projection-based lasers like those for transoral laser microsurgery, potentially because dexterous laser steering is required at the ablation site, raising substantial challenges in the confined MRI bore and its strong magnetic field. Here, we propose an MR-safe soft robotic system for MRI-guided transoral laser microsurgery. Owing to its miniature size (Ø12 × 100 mm), inherent compliance, and five degrees of freedom, the soft robot ensures zero electromagnetic interference with MRI and enables safe and dexterous operation within the confined oral and pharyngeal cavities. The laser manipulator is rapidly fabricated with hybrid soft and hard structures and is powered by microvolume (<0.004 milliter) fluid flow to enable laser steering with enhanced stiffness and lowered hysteresis. A learning-based controller accommodates the inherent nonlinear robot actuation, which was validated with laser path-following tests. Submillimeter laser steering accuracy was demonstrated with a mean error < 0.20 mm. MRI compatibility testing demonstrated zero observable image artifacts during robot operation. Ex vivo tissue ablation and a cadaveric head-and-neck trial were carried out under MRI, where we employed MR thermometry to monitor the tissue ablation margin and thermal diffusion intraoperatively.
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Affiliation(s)
- Ge Fang
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
| | - Marco C K Chow
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
| | - Justin D L Ho
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
| | - Zhuoliang He
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
| | - Kui Wang
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
| | - T C Ng
- Faculty of Dentistry, University of Hong Kong, Hong Kong, China
| | - James K H Tsoi
- Faculty of Dentistry, University of Hong Kong, Hong Kong, China
| | - Po-Ling Chan
- Department of Otorhinolaryngology, Head and Neck Surgery, Chinese University of Hong Kong, Hong Kong, China
| | - Hing-Chiu Chang
- Department of Diagnostic Radiology, University of Hong Kong, Hong Kong, China.,Department of Biomedical Engineering, Chinese University of Hong Kong, Hong Kong, China
| | | | - Yun-Hui Liu
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, China
| | | | - Jason Ying-Kuen Chan
- Department of Otorhinolaryngology, Head and Neck Surgery, Chinese University of Hong Kong, Hong Kong, China.
| | - Ka-Wai Kwok
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China.
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Abstract
Compliant continuum robots (CCRs) have slender and elastic bodies. Compared with a traditional serial robot, they have more degrees of freedom and can deform their flexible bodies to go through a constrained environment. In this paper, we classify CCRs according to basic transmission units. The merits, materials and potential drawbacks of each type of CCR are described. Drive systems depend on the basic transmission units significantly, and their advantages and disadvantages are reviewed and summarized. Variable stiffness and intrinsic sensing are desired characteristics of CCRs, and the methods of obtaining the two characteristics are discussed. Finally, we discuss the friction, buckling, singularity and twisting problems of CCRs, and emphasise the ways to reduce their effects, followed by several proposing perspectives, such as the collaborative CCRs.
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11
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Su B, Yu S, Yan H, Hu YD, Buzurovic I, Liu D, Liu L, Teng Y, Tang J, Wang J, Liu W. Biopsy Needle System With a Steerable Concentric Tube and Online Monitoring of Electrical Resistivity and Insertion Forces. IEEE Trans Biomed Eng 2021; 68:1702-1713. [PMID: 33606624 DOI: 10.1109/tbme.2021.3060541] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
OBJECTIVE Biopsies are the gold standard for clinical diagnosis. However, a discrepancy between the biopsy sample and target tissue because of misplacement of the biopsy spoon can lead to errors in the diagnosis and subsequent treatment. Thus, correctly determining whether the needle tip is in the tumor is crucial for accurate biopsy results. METHODS A biopsy needle system was designed with a steerable, flexible, and superelastic concentric tube; electrodes to monitor the electrical resistivity; and load cells to monitor the insertion force. The degrees of freedom were analyzed for two working modes: straight-line and deflection. RESULTS Experimental results showed that the system could perceive the tissue type in online based on the electrical resistivity. In addition, changes in the insertion force indicated transitions between the interfaces of adjacent tissue layers. CONCLUSION The two monitoring methods guarantee that the biopsy spoon is at the desired position inside the tumor during an operation. SIGNIFICANCE The proposed biopsy needle system can be integrated into an autonomous robotic biopsy system.
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12
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Dai X, Zhang Y, Jiang J, Li B. Image-guided robots for low dose rate prostate brachytherapy: Perspectives on safety in design and use. Int J Med Robot 2021; 17:e2239. [PMID: 33689202 DOI: 10.1002/rcs.2239] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/03/2020] [Revised: 01/27/2021] [Accepted: 01/28/2021] [Indexed: 11/06/2022]
Abstract
BACKGROUND Image-guided brachytherapy (BT) robots can be used to assist urologists during seed implantation, thereby improving therapeutic effects. However, safety issues must be considered in the design of such robots, including their structure, mechanical movements, function, materials and actuators. Previous reviews focused on image-guided prostate BT robot technology (e.g., imaging and robot navigation technology and robot system introduction); however, this review is the first time that safety issues have been investigated as part of a study on low-dose-rate (LDR) prostate BT robots. METHODS Multiple electronic databases were searched for LDR prostate BT robot articles published during the last 24 years (1996-2020), with a particular focus on two aspects of robots: safety in design and use. RESULTS We retrieved a total of 26 LDR prostate BT robots. BT robots were divided into ultrasound, computed tomography, magnetic resonance imaging and fusion-guided systems. The conditions associated with each system were then analysed to develop a set of requirements for the safety of prostate BT robots. Recommendations are also provided for future BT robot development. CONCLUSIONS The transrectal approach for prostate seed implantation is safer than the traditional transperineal approach. Research into the control of a steerable needle by the urologists and robot, the needle deflection model, and robotic automated needle changing and seed injection equipment should be pursued in a future study.
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Affiliation(s)
- Xuesong Dai
- Robotics & Engineering Research Center, Harbin University of Science and Technology, Harbin, China
| | - Yongde Zhang
- Robotics & Engineering Research Center, Harbin University of Science and Technology, Harbin, China.,Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China
| | - Jingang Jiang
- Robotics & Engineering Research Center, Harbin University of Science and Technology, Harbin, China.,Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China
| | - Bing Li
- Robotics & Engineering Research Center, Harbin University of Science and Technology, Harbin, China
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13
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Varnamkhasti ZK, Konh B. Design, Fabrication, and Testing of a Flexible Three-Dimensional Printed Percutaneous Needle With Embedded Actuators. J Med Device 2021. [DOI: 10.1115/1.4049398] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022] Open
Abstract
Abstract
Percutaneous needle-based procedures have replaced open surgeries in cancer treatments to perform the tasks with minimal invasiveness to the tissue. Precise placement of the needle at target positions in cancer diagnostic (e.g., breast biopsy) or therapeutic (e.g., prostate brachytherapy) procedures governs the success of such procedures. Also, in many needle insertion applications, it is desired to steer away from critical organs or to maneuver around anatomical obstacles in tissue. This work introduces a flexible three-dimensional (3D) printed percutaneous needle with embedded actuators for improved navigation inside the tissue toward the target. The needle is manipulated via a programmed portable motorized control unit to realize an average angular deflection of about 15 and 14 deg in air and a tissue-mimicking phantom, respectively. We demonstrated the needle's capability to reach the target, while avoiding obstacles. We also demonstrated that the flexible needle can be guided through a desired trajectory by controlling its angular deflection and axial movement. The 3D deflection of the needle is expected to assist in breast cancer lumpectomy for multiple extractions of tissue samples or in prostate brachytherapy via a curvilinear approach. The flexible needle may help reducing the complexity of current path planning algorithms, and thereby improve efficiency of closed-loop control systems in needle steering.
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Affiliation(s)
- Zahra K. Varnamkhasti
- Department of Mechanical Engineering, University of Hawaii at Manoa, 2540 Dole St., Holmes Hall 302, Honolulu, HI 96822
| | - Bardia Konh
- Department of Mechanical Engineering, University of Hawaii at Manoa, 2540 Dole St., Holmes Hall 302, Honolulu, HI 96822
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14
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da Veiga T, Chandler JH, Lloyd P, Pittiglio G, Wilkinson NJ, Hoshiar AK, Harris RA, Valdastri P. Challenges of continuum robots in clinical context: a review. ACTA ACUST UNITED AC 2020. [DOI: 10.1088/2516-1091/ab9f41] [Citation(s) in RCA: 40] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
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15
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Patel NA, Li G, Shang W, Wartenberg M, Heffter T, Burdette EC, Iordachita I, Tokuda J, Hata N, Tempany CM, Fischer GS. System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy. JOURNAL OF MEDICAL ROBOTICS RESEARCH 2019; 4:1950001. [PMID: 31485544 PMCID: PMC6726403 DOI: 10.1142/s2424905x19500016] [Citation(s) in RCA: 22] [Impact Index Per Article: 4.4] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
This paper presents the development, preclinical evaluation, and preliminary clinical study of a robotic system for targeted transperineal prostate biopsy under direct interventional magnetic resonance imaging (MRI) guidance. The clinically integrated robotic system is developed based on a modular design approach, comprised of surgical navigation application, robot control software, MRI robot controller hardware, and robotic needle placement manipulator. The system provides enabling technologies for MRI-guided procedures. It can be easily transported and setup for supporting the clinical workflow of interventional procedures, and the system is readily extensible and reconfigurable to other clinical applications. Preclinical evaluation of the system is performed with phantom studies in a 3 Tesla MRI scanner, rehearsing the proposed clinical workflow, and demonstrating an in-plane targeting error of 1.5mm. The robotic system has been approved by the institutional review board (IRB) for clinical trials. A preliminary clinical study is conducted with the patient consent, demonstrating the targeting errors at two biopsy target sites to be 4.0mm and 3.7mm, which is sufficient to target a clinically significant tumor foci. First-in-human trials to evaluate the system's effectiveness and accuracy for MR image-guide prostate biopsy are underway.
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Affiliation(s)
- Niravkumar A Patel
- Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA 01609, USA [napatel, gfischerj]@wpi.edu
- indicates shared first authorship
| | - Gang Li
- Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA 01609, USA [napatel, gfischerj]@wpi.edu
- indicates shared first authorship
| | - Weijian Shang
- Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA 01609, USA [napatel, gfischerj]@wpi.edu
| | - Marek Wartenberg
- Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA 01609, USA [napatel, gfischerj]@wpi.edu
| | - Tamas Heffter
- Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA 01609, USA [napatel, gfischerj]@wpi.edu
| | - Everette C Burdette
- Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA 01609, USA [napatel, gfischerj]@wpi.edu
| | - Iulian Iordachita
- Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA
| | - Junichi Tokuda
- Department of Radiology, Surgical Navigation and Robotics Laboratory, Brigham and Womens Hospital, Harvard Medical School, Boston, MA, USA
| | - Nobuhiko Hata
- Department of Radiology, Surgical Navigation and Robotics Laboratory, Brigham and Womens Hospital, Harvard Medical School, Boston, MA, USA
| | - Clare M Tempany
- Department of Radiology, Surgical Navigation and Robotics Laboratory, Brigham and Womens Hospital, Harvard Medical School, Boston, MA, USA
| | - Gregory S Fischer
- Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA 01609, USA [napatel, gfischerj]@wpi.edu
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16
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Chen Y, Godage IS, Sengupta S, Liu CL, Weaver KD, Barth EJ. MR-conditional steerable needle robot for intracerebral hemorrhage removal. Int J Comput Assist Radiol Surg 2019; 14:105-115. [PMID: 30173334 PMCID: PMC7306193 DOI: 10.1007/s11548-018-1854-z] [Citation(s) in RCA: 15] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/26/2018] [Accepted: 08/27/2018] [Indexed: 10/28/2022]
Abstract
BACKGROUND Intracerebral hemorrhage (ICH) is one of the deadliest forms of stroke in the USA. Conventional surgical techniques such as craniotomy or stereotactic aspiration disrupt a large volume of healthy brain tissue in their attempts to reach the surgical site. Consequently, the surviving patients suffer from debilitating complications. METHODS We fabricated a novel MR-conditional steerable needle robot for ICH treatment. The robot system is powered by a custom-designed high power and low-cost pneumatic motor. We tested the robot's targeting accuracy and MR-conditionality performance, and performed phantom evacuation experiment under MR image guidance. RESULTS Experiments demonstrate that the robotic hardware is MR-conditional; the robot has the targeting accuracy of 1.26 ± 1.22 mm in bench-top tests. With real-time MRI guidance, the robot successfully reached the desired target and evacuated an 11.3 ml phantom hematoma in 9 min. CONCLUSION MRI-guided steerable needle robotic system is a potentially feasible approach for ICH treatment by providing accurate needle guidance and intraoperative surgical outcome evaluation.
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Affiliation(s)
- Yue Chen
- Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, USA.
| | - Isuru S Godage
- School of Computing, DePaul University, Chicago, IL, USA
| | - Saikat Sengupta
- Department of Radiology and Radiological Sciences, Vanderbilt University, Nashville, TN, USA
| | - Cindy Lin Liu
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
| | - Kyle D Weaver
- Department of Neurological Surgery, Vanderbilt Medical Center, Nashville, TN, USA
| | - Eric J Barth
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
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17
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Kudryavtsev AV, Chikhaoui MT, Liadov A, Rougeot P, Spindler F, Rabenorosoa K, Burgner-Kahrs J, Tamadazte B, Andreff N. Eye-in-Hand Visual Servoing of Concentric Tube Robots. IEEE Robot Autom Lett 2018. [DOI: 10.1109/lra.2018.2807592] [Citation(s) in RCA: 30] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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18
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Farooq MU, Kim WY, Ko SY. A robotic suture-passing device for possible use in SILS and NOTES. Int J Med Robot 2018; 14:e1916. [PMID: 29749103 DOI: 10.1002/rcs.1916] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/08/2017] [Revised: 12/22/2017] [Accepted: 03/28/2018] [Indexed: 11/11/2022]
Abstract
BACKGROUND Natural orifice transluminal endoscopic (NOTES) and single incisional laparoscopic surgeries (SILS) have been gaining importance over the last two decades. Due to improper instrumentation, small workspace and the imperceptibility of body structures, suturing and knot-tying are difficult to perform in both. METHODS An intracorporeal suture-passing device with two manipulator arms is proposed that automatically passes the suture around ducts of up to 7 mm diameter, without additional manipulation of any other surgical instrument, and it can be deployed through a trocar of 3 mm inner diameter. RESULTS The working mechanism was validated by 15 trials, where passing the suture around a phantom tube was tested, and the operating time measured as (34.55 ± 4.55) seconds. CONCLUSIONS Suturing and knotting in SILS and NOTES are currently challenging techniques, but the proposed device enables the suture to be automatically passed around ducts. It is expected that clinical evaluations of future prototypes will further confirm the efficacy of the device.
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Affiliation(s)
- Muhammad Umar Farooq
- Medical Robotics and Intelligent Control Laboratory (MeRIC-Lab), Graduate School of Mechanical Engineering, Chonnam National University, Gwangju, South Korea
| | - Woo Young Kim
- Medical Robotics and Intelligent Control Laboratory (MeRIC-Lab), Graduate School of Mechanical Engineering, Chonnam National University, Gwangju, South Korea
| | - Seong Young Ko
- Medical Robotics and Intelligent Control Laboratory (MeRIC-Lab), Graduate School of Mechanical Engineering, Chonnam National University, Gwangju, South Korea
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19
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Kim Y, Cheng SS, Diakite M, Gullapalli RP, Simard JM, Desai JP. Toward the Development of a Flexible Mesoscale MRI-compatible Neurosurgical Continuum Robot. IEEE T ROBOT 2017; 33:1386-1397. [PMID: 29225557 DOI: 10.1109/tro.2017.2719035] [Citation(s) in RCA: 48] [Impact Index Per Article: 6.9] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
Brain tumor, be it primary or metastatic, is usually life threatening for a person of any age. Primary surgical resection which is one of the most effective ways of treating brain tumors can have tremendously increased success rate if the appropriate imaging modality is used for complete tumor resection. Magnetic resonance imaging (MRI) is the imaging modality of choice for brain tumor imaging because of its excellent soft-tissue contrast. MRI combined with continuum soft robotics has immense potential to be the next major technological breakthrough in the field of brain cancer diagnosis and therapy. In this work, we present the design, kinematic, and force analysis of a flexible spring-based minimally invasive neurosurgical intracranial robot (MINIR-II). It is comprised of an inter-connected inner spring and an outer spring and is connected to actively cooled shape memory alloy spring actuators via tendon driven mechanism. Our robot has three serially connected 2-DoF segments which can be independently controlled due to the central tendon routing configuration. The kinematic and force analysis of the robot and the independent segment control were verified by experiments. Robot motion under forced cooling of SMA springs was evaluated as well as the MRI compatibility of the robot and its motion capability in brainlike gelatin environment.
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Affiliation(s)
- Yeongjin Kim
- Department of Mechanical Engineering, Incheon National University, 8-204, 119 Academy-ro, Yeonsu-gu, Incheon, Republic of Korea
| | - Shing Shin Cheng
- Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA, 30332
| | - Mahamadou Diakite
- Laboratory of Imaging Technology, Biochemistry and Biophysics Center, National Heart, Lung, and Blood Institute, National Institutes of Health
| | | | - J Marc Simard
- University of Maryland School of Medicine, Baltimore, MD, USA
| | - Jaydev P Desai
- Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA, 30332
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