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Bloemberg J, Hoppener B, Coolen B, Sakes A, Breedveld P. Design and evaluation of a pneumatic actuation unit for a wasp-inspired self-propelled needle. PLoS One 2024; 19:e0306411. [PMID: 38954720 PMCID: PMC11218968 DOI: 10.1371/journal.pone.0306411] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/22/2023] [Accepted: 06/17/2024] [Indexed: 07/04/2024] Open
Abstract
Transperineal laser ablation is a minimally invasive thermo-ablative treatment for prostate cancer that requires the insertion of a needle for accurate optical fiber positioning. Needle insertion in soft tissues may cause tissue motion and deformation, resulting in tissue damage and needle positioning errors. In this study, we present a wasp-inspired self-propelled needle that uses pneumatic actuation to move forward with zero external push force, thus avoiding large tissue motion and deformation. The needle consists of six parallel 0.25-mm diameter Nitinol rods driven by a pneumatic actuation system. The pneumatic actuation system consists of Magnetic Resonance (MR) safe 3D-printed parts and off-the-shelf plastic screws. A self-propelled motion is achieved by advancing the needle segments one by one, followed by retracting them simultaneously. The advancing needle segment has to overcome a cutting and friction force, while the stationary needle segments experience a friction force in the opposite direction. The needle self-propels through the tissue when the friction force of the five stationary needle segments overcomes the sum of the friction and cutting forces of the advancing needle segment. We evaluated the prototype's performance in 10-wt% gelatin phantoms and ex vivo porcine liver tissue inside a preclinical Magnetic Resonance Imaging (MRI) scanner in terms of the slip ratio of the needle with respect to the phantom or liver tissue. Our results demonstrated that the needle was able to self-propel through the phantom and liver tissue with slip ratios of 0.912-0.955 and 0.88, respectively. The prototype is a promising step toward the development of self-propelled needles for MRI-guided transperineal laser ablation as a method to treat prostate cancer.
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Affiliation(s)
- Jette Bloemberg
- Faculty of Mechanical Engineering, Department of BioMechanical Engineering, Bio-Inspired Technology (BITE) Group, Delft University of Technology, Delft, The Netherlands
| | - Bruce Hoppener
- Faculty of Mechanical Engineering, Department of BioMechanical Engineering, Bio-Inspired Technology (BITE) Group, Delft University of Technology, Delft, The Netherlands
| | - Bram Coolen
- Department of Biomedical Engineering & Physics, Amsterdam UMC Location University of Amsterdam, Amsterdam, The Netherlands
| | - Aimée Sakes
- Faculty of Mechanical Engineering, Department of BioMechanical Engineering, Bio-Inspired Technology (BITE) Group, Delft University of Technology, Delft, The Netherlands
| | - Paul Breedveld
- Faculty of Mechanical Engineering, Department of BioMechanical Engineering, Bio-Inspired Technology (BITE) Group, Delft University of Technology, Delft, The Netherlands
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2
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Gunderman AL, Azizkhani M, Sengupta S, Cleary K, Chen Y. Modeling and Control of an MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME). IEEE/ASME TRANSACTIONS ON MECHATRONICS : A JOINT PUBLICATION OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY AND THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2024; 29:1714-1725. [PMID: 38895598 PMCID: PMC11185264 DOI: 10.1109/tmech.2023.3329296] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/21/2024]
Abstract
Magnetic resonance (MR) conditional actuators and encoders are the key components for MR-guided robotic systems. In this article, we present the modeling and control of our MR-safe pneumatic radial inflow motor and encoder. A comprehensive model is developed that considers the primary dynamic elements of the system, including: 1) motor dynamics, 2) pneumatic transmission line dynamics, and 3) valve dynamics. After model validation, we present a simplified third order model that facilitates design of a first order sliding mode controller (TO-SMC). Finally, the motor hardware is tested in a 7T MRI. No image distortion or artifacts were observed. We posit the MR-safe motor and dynamic model will lower the entry barriers for researchers interested in MR-guided robots and promote wider adoption of MR-guided robotic systems.
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Affiliation(s)
- Anthony L Gunderman
- Department of Biomedical Engineering, Georgia Institute of Technology/Emory, Atlanta, GA 30338 USA
| | - Milad Azizkhani
- Department of Biomedical Engineering, Georgia Institute of Technology/Emory, Atlanta, GA 30338 USA
| | - Saikat Sengupta
- Vanderbilt University Institute of Imaging Science, Vanderbilt University Medical Center, Nashville, TN 37232 USA
| | - Kevin Cleary
- Children's National Hospital, Washington, DC 20010 USA
| | - Yue Chen
- Department of Biomedical Engineering, Georgia Institute of Technology/Emory, Atlanta, GA 30338 USA
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3
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Gunderman AL, Sengupta S, Huang Z, Sigounas D, Oluigbo C, Godage IS, Cleary K, Chen Y. Towards MR-Guided Robotic Intracerebral Hemorrhage Evacuation: Aiming Device Design and ex vivo Ovine Head Trial. IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS 2024; 6:577-588. [PMID: 38911181 PMCID: PMC11189651 DOI: 10.1109/tmrb.2024.3385794] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/25/2024]
Abstract
Stereotactic neurosurgery is a well-established surgical technique for navigation and guidance during treatment of intracranial pathologies. Intracerebral hemorrhage (ICH) is an example of various neurosurgical conditions that can benefit from stereotactic neurosurgery. As a part of our ongoing work toward real-time MR-guided ICH evacuation, we aim to address an unmet clinical need for a skull-mounted frameless stereotactic aiming device that can be used with minimally invasive robotic systems for MR-guided interventions. In this paper, we present NICE-Aiming, a Neurosurgical, Interventional, Configurable device for Effective-Aiming in MR-guided robotic neurosurgical interventions. A kinematic model was developed and the system was used with a concentric tube robot (CTR) for ICH evacuation in (i) a skull phantom and (ii) in the first ever reported ex vivo CTR ICH evacuation using an ex vivo ovine head. The NICE-Aiming prototype provided a tip accuracy of 1.41±0.35 mm in free-space. In the MR-guided gel phantom experiment, the targeting accuracy was 2.07±0.42 mm and the residual hematoma volume was 12.87 mL (24.32% of the original volume). In the MR-guided ex vivo ovine head experiment, the targeting accuracy was 2.48±0.48 mm and the residual hematoma volume was 1.42 mL (25.08% of the original volume).
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Affiliation(s)
- Anthony L Gunderman
- Department of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA 30338 USA
| | - Saikat Sengupta
- Vanderbilt University Institute of Imaging Science, Vanderbilt University Medical Center, Nashville, TN 37232 USA
| | - Zhefeng Huang
- Department of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30338 USA
| | - Dimitri Sigounas
- The George Washington University School of Medicine and Health Sciences, Department of Neurosurgery, The George Washington University, Washington, DC, US
| | - Chima Oluigbo
- Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Hospital, Washington, DC 20010 USA
| | - Isuru S Godage
- Department of Engineering Technology and Industrial Distribution, Texas A&M University, College Station, TX, USA
| | - Kevin Cleary
- Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Hospital, Washington, DC 20010 USA
| | - Yue Chen
- Biomedical Engineering Department, Georgia Institute of Technology/Emory, Atlanta 30338 USA
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4
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He Z, Dai J, Ho JDL, Tong HS, Wang X, Fang G, Liang L, Cheung CL, Guo Z, Chang HC, Iordachita I, Taylor RH, Poon WS, Chan DTM, Kwok KW. Interactive Multi-Stage Robotic Positioner for Intra-Operative MRI-Guided Stereotactic Neurosurgery. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2305495. [PMID: 38072667 PMCID: PMC10870025 DOI: 10.1002/advs.202305495] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/08/2023] [Revised: 10/30/2023] [Indexed: 02/17/2024]
Abstract
Magnetic resonance imaging (MRI) demonstrates clear advantages over other imaging modalities in neurosurgery with its ability to delineate critical neurovascular structures and cancerous tissue in high-resolution 3D anatomical roadmaps. However, its application has been limited to interventions performed based on static pre/post-operative imaging, where errors accrue from stereotactic frame setup, image registration, and brain shift. To leverage the powerful intra-operative functions of MRI, e.g., instrument tracking, monitoring of physiological changes and tissue temperature in MRI-guided bilateral stereotactic neurosurgery, a multi-stage robotic positioner is proposed. The system positions cannula/needle instruments using a lightweight (203 g) and compact (Ø97 × 81 mm) skull-mounted structure that fits within most standard imaging head coils. With optimized design in soft robotics, the system operates in two stages: i) manual coarse adjustment performed interactively by the surgeon (workspace of ±30°), ii) automatic fine adjustment with precise (<0.2° orientation error), responsive (1.4 Hz bandwidth), and high-resolution (0.058°) soft robotic positioning. Orientation locking provides sufficient transmission stiffness (4.07 N/mm) for instrument advancement. The system's clinical workflow and accuracy is validated with lab-based (<0.8 mm) and MRI-based testing on skull phantoms (<1.7 mm) and a cadaver subject (<2.2 mm). Custom-made wireless omni-directional tracking markers facilitated robot registration under MRI.
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Affiliation(s)
- Zhuoliang He
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, 999077, China
| | - Jing Dai
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, 999077, China
| | - Justin Di-Lang Ho
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, 999077, China
| | - Hon-Sing Tong
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, 999077, China
| | - Xiaomei Wang
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, 999077, China
- Multi-Scale Medical Robotics Center, Hong Kong, 999077, China
| | - Ge Fang
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, 999077, China
| | - Liyuan Liang
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
- Multi-Scale Medical Robotics Center, Hong Kong, 999077, China
| | - Chim-Lee Cheung
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, 999077, China
| | - Ziyan Guo
- Department of Medical Physics and Biomedical Engineering, University College London, London, WC1E 6BT, UK
- Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, WC1E 6BT, UK
| | - Hing-Chiu Chang
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
- Multi-Scale Medical Robotics Center, Hong Kong, 999077, China
| | - Iulian Iordachita
- Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Russell H Taylor
- Department of Computer Science and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA
| | - Wai-Sang Poon
- Division of Neurosurgery, Department of Surgery, Prince of Wales Hospital, The Chinese University of Hong Kong, Hong Kong, 999077, China
- Neuromedicine Center, Shenzhen Hospital, The University of Hong Kong, Shenzhen, 518053, China
| | - Danny Tat-Ming Chan
- Division of Neurosurgery, Department of Surgery, Prince of Wales Hospital, The Chinese University of Hong Kong, Hong Kong, 999077, China
- Multi-Scale Medical Robotics Center, Hong Kong, 999077, China
| | - Ka-Wai Kwok
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, 999077, China
- Multi-Scale Medical Robotics Center, Hong Kong, 999077, China
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5
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Dong X, Luo X, Zhao H, Qiao C, Li J, Yi J, Yang L, Oropeza FJ, Hu TS, Xu Q, Zeng H. Recent advances in biomimetic soft robotics: fabrication approaches, driven strategies and applications. SOFT MATTER 2022; 18:7699-7734. [PMID: 36205123 DOI: 10.1039/d2sm01067d] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/29/2023]
Abstract
Compared to traditional rigid-bodied robots, soft robots are constructed using physically flexible/elastic bodies and electronics to mimic nature and enable novel applications in industry, healthcare, aviation, military, etc. Recently, the fabrication of robots on soft matter with great flexibility and compliance has enabled smooth and sophisticated 'multi-degree-of-freedom' 3D actuation to seamlessly interact with humans, other organisms and non-idealized environments in a highly complex and controllable manner. Herein, we summarize the fabrication approaches, driving strategies, novel applications, and future trends of soft robots. Firstly, we introduce the different fabrication approaches to prepare soft robots and compare and systematically discuss their advantages and disadvantages. Then, we present the actuator-based and material-based driving strategies of soft robotics and their characteristics. The representative applications of soft robotics in artificial intelligence, medicine, sensors, and engineering are summarized. Also, some remaining challenges and future perspectives in soft robotics are provided. This work highlights the recent advances of soft robotics in terms of functional material selection, structure design, control strategies and biomimicry, providing useful insights into the development of next-generation functional soft robotics.
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Affiliation(s)
- Xiaoxiao Dong
- College of Mechanical and Transportation Engineering, China University of Petroleum-Beijing, Beijing 102249, China.
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
| | - Xiaohang Luo
- State Key Laboratory of Heavy Oil Processing, China University of Petroleum-Beijing, Beijing 102249, China
| | - Hong Zhao
- College of Mechanical and Transportation Engineering, China University of Petroleum-Beijing, Beijing 102249, China.
| | - Chenyu Qiao
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
| | - Jiapeng Li
- State Key Laboratory of Heavy Oil Processing, China University of Petroleum-Beijing, Beijing 102249, China
| | - Jianhong Yi
- Faculty of Metallurgical and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China.
| | - Li Yang
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
- Faculty of Metallurgical and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China.
| | - Francisco J Oropeza
- Department of Mechanical Engineering, California State University, Los Angeles, California 90032, USA
| | - Travis Shihao Hu
- Department of Mechanical Engineering, California State University, Los Angeles, California 90032, USA
| | - Quan Xu
- State Key Laboratory of Heavy Oil Processing, China University of Petroleum-Beijing, Beijing 102249, China
| | - Hongbo Zeng
- Department of Chemical and Materials Engineering, University of Alberta, Edmonton T6G 1H9, Canada.
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6
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Granna J, Pitt EB, McKay ME, Ball TJ, Neimat JS, Englot DJ, Naftel RP, Barth EJ, Webster RJ. Targeting Epilepsy Through the Foremen Ovale: How Many Helical Needles are Needed? Ann Biomed Eng 2022; 50:499-506. [PMID: 35244812 PMCID: PMC9007910 DOI: 10.1007/s10439-022-02929-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/22/2021] [Accepted: 02/08/2022] [Indexed: 11/25/2022]
Abstract
Laser ablation of the hippocampus offers medically refractory epilepsy patients an alternative to invasive surgeries. Emerging commercial solutions deliver the ablator through a burr hole in the back of the head. We recently introduced a new access path through the foremen ovale, using a helical needle, which minimizes the amount of healthy brain tissue the needle must pass through on its way to the hippocampus, and also enables the needle to follow the medial axis of the hippocampus more closely. In this paper, we investigate whether helical needles should be designed and fabricated on a patient-specific basis as we had previously proposed, or whether a small collection of pre-defined needle shapes can apply across many patients. We propose a new optimization strategy to determine this needle set using patient data, and investigate the accuracy with which these needles can reach the the medial axis of the hippocampus. We find that three basic tube shapes (mirrored as necessary for left vs. right hippocampi) are all that is required, across 20 patient datasets (obtained from 10 patient CT scans), to reduce worst-case maximum error below 2 mm.
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Affiliation(s)
- J Granna
- Mechanical Engineering Department, Vanderbilt University, Nashville, TN, USA
- Vanderbilt Institute for Surgery and Engineering (VISE), Nashville, TN, USA
| | - E B Pitt
- Mechanical Engineering Department, Vanderbilt University, Nashville, TN, USA
- Vanderbilt Institute for Surgery and Engineering (VISE), Nashville, TN, USA
| | - M E McKay
- Mechanical Engineering Department, Vanderbilt University, Nashville, TN, USA
- Vanderbilt Institute for Surgery and Engineering (VISE), Nashville, TN, USA
| | - T J Ball
- Vanderbilt University Medical Center, Nashville, TN, USA
| | - J S Neimat
- University of Louisville School of Medicine, Louisville, KT, USA
| | - D J Englot
- Vanderbilt Institute for Surgery and Engineering (VISE), Nashville, TN, USA
- Vanderbilt University Medical Center, Nashville, TN, USA
| | - R P Naftel
- Vanderbilt Institute for Surgery and Engineering (VISE), Nashville, TN, USA
- Vanderbilt University Medical Center, Nashville, TN, USA
| | - E J Barth
- Mechanical Engineering Department, Vanderbilt University, Nashville, TN, USA
- Vanderbilt Institute for Surgery and Engineering (VISE), Nashville, TN, USA
| | - R J Webster
- Mechanical Engineering Department, Vanderbilt University, Nashville, TN, USA.
- Vanderbilt Institute for Surgery and Engineering (VISE), Nashville, TN, USA.
- Vanderbilt University Medical Center, Nashville, TN, USA.
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7
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Altelbani A, Zhou H, Mehrdad S, Alambeigi F, Atashzar SF. Design, Fabrication, and Validation of a New Family of 3D-Printable Structurally-Programmable Actuators for Soft Robotics. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3101860] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
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8
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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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9
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Pfeil A, Barbé L, Geiskopf F, Cazzato RL, Renaud P. Workflow-Based Design and Evaluation of a Device for CBCT-Guided Biopsy. J Med Device 2021. [DOI: 10.1115/1.4050660] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
Abstract
Biopsies for personalized cancer care can be performed with cone beam computed tomography (CBCT) guidance, but manual needle manipulation remains an issue due to X-ray exposure to physicians. Modern CBCT scanners integrate today real-time imaging and software assistance for needle planning. In this paper, these available features are exploited to design a novel device offering an intermediate level of assistance between simple passive mechanical devices of limited efficiency, and advanced robotic devices requiring adapted procedure workflows. Our resulting system is built to limit its impact on the current manual practice. It is patient-mounted and provides remote control of needle orientation and insertion. A multilayer phantom is specifically developed to reproduce interactions between the needle and soft abdominal tissues. It is used to experimentally evaluate the device added value by comparing assisted versus manual needle insertions. The device is shown to help reducing X-ray exposure by a factor 4, without impacting the accuracy obtained manually.
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Affiliation(s)
- A. Pfeil
- ICube Laboratory, University of Strasbourg, CNRS INSA, Strasbourg 67000, France
| | - L. Barbé
- ICube Laboratory, University of Strasbourg, CNRS, Strasbourg 67000, France
| | - F. Geiskopf
- ICube Laboratory, University of Strasbourg, CNRS INSA, Strasbourg 67000, France
| | - R. L. Cazzato
- ICube Laboratory, University Hospital of Strasbourg, Strasbourg 67000, France
| | - P. Renaud
- ICube Laboratory, University of Strasbourg, CNRS INSA, Strasbourg 67000, France
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10
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Xiao Q, Monfaredi R, Musa M, Cleary K, Chen Y. MR-Conditional Actuations: A Review. Ann Biomed Eng 2020; 48:2707-2733. [PMID: 32856179 PMCID: PMC10620609 DOI: 10.1007/s10439-020-02597-8] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/18/2020] [Accepted: 08/14/2020] [Indexed: 10/23/2022]
Abstract
Magnetic resonance imaging (MRI) is one of the most prevailing technologies to enable noninvasive and radiation-free soft tissue imaging. Operating a robotic device under MRI guidance is an active research area that has the potential to provide efficient and precise surgical therapies. MR-conditional actuators that can safely drive these robotic devices without causing safety hazards or adversely affecting the image quality are crucial for the development of MR-guided robotic devices. This paper aims to summarize recent advances in actuation methods for MR-guided robots and each MR-conditional actuator was reviewed based on its working principles, construction materials, the noteworthy features, and corresponding robotic application systems, if any. Primary characteristics, such as torque, force, accuracy, and signal-to-noise ratio (SNR) variation due to the variance of the actuator, are also covered. This paper concludes with a perspective on the current development and future of MR-conditional actuators.
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Affiliation(s)
- Qingyu Xiao
- Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, USA
| | | | - Mishek Musa
- Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, USA
| | - Kevin Cleary
- Children's National Medical Center, Washington, DC, USA
| | - Yue Chen
- Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, USA.
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11
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Li G, Patel NA, Burdette EC, Pilitsis JG, Su H, Fischer GS. A Fully Actuated Robotic Assistant for MRI-Guided Precision Conformal Ablation of Brain Tumors. IEEE/ASME TRANSACTIONS ON MECHATRONICS : A JOINT PUBLICATION OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY AND THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2020; 26:255-266. [PMID: 33994771 PMCID: PMC8117662 DOI: 10.1109/tmech.2020.3012903] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/28/2023]
Abstract
This paper reports the development of a fully actuated robotic assistant for magnetic resonance imaging (MRI)-guided precision conformal ablation of brain tumors using an interstitial high intensity needle-based therapeutic ultrasound (NBTU) ablator probe. The robot is designed with an eight degree-of-freedom (DOF) remote center of motion (RCM) manipulator driven by piezoelectric actuators, five for aligning the ultrasound thermal ablator to the target lesions and three for inserting and orienting the ablator and its cannula to generate a desired ablation profile. The 8-DOF fully actuated robot can be operated in the scanner bore during imaging; thus, alleviating the need of moving the patient in or out of the scanner during the procedure, and therefore potentially reducing the procedure time and streamlining the workflow. The free space positioning accuracy of the system is evaluated with the OptiTrack motion capture system, demonstrating the root mean square (RMS) error of the tip position to be 1.11±0.43mm. The system targeting accuracy in MRI is assessed with phantom studies, indicating the RMS errors of the tip position to be 1.45±0.66mm and orientation to be 1.53±0.69°. The feasibility of the system to perform thermal ablation is validated through a preliminary ex-vivo tissue study with position error less than 4.3mm and orientation error less than 4.3°.
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Affiliation(s)
- Gang Li
- Automation and Interventional Medicine (AIM) Laboratory in the Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA
| | - Niravkumar A. Patel
- Automation and Interventional Medicine (AIM) Laboratory in the Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA
| | | | | | - Hao Su
- Department of Mechanical Engineering, City College, City University of New York, NY, USA
| | - Gregory S. Fischer
- Automation and Interventional Medicine (AIM) Laboratory in the Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA
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12
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He Z, Dong Z, Fang G, Ho JDL, Cheung CL, Chang HC, Chong CCN, Chan JYK, Chan DTM, Kwok KW. Design of a Percutaneous MRI-Guided Needle Robot With Soft Fluid-Driven Actuator. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2969929] [Citation(s) in RCA: 13] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022]
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13
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Zhang Y, Lu M. A review of recent advancements in soft and flexible robots for medical applications. Int J Med Robot 2020; 16:e2096. [PMID: 32091642 DOI: 10.1002/rcs.2096] [Citation(s) in RCA: 23] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/16/2019] [Revised: 02/05/2020] [Accepted: 02/19/2020] [Indexed: 11/06/2022]
Abstract
BACKGROUND Soft and flexible robots for medical applications are needed to change their flexibility over a wide range to perform tasks adequately. The mechanism and theory of flexibility has been a scientific issue and is of interest to the community. METHODS Recent advancements of bionics, flexible actuation, sensing, and intelligent control algorithms as well as tunable stiffness have been referenced when soft and flexible robots are developed. The benefits and limitations of these relevant studies and how they affect the flexibility are discussed, and possible research directions are explored. RESULTS The bionic materials and structures that demonstrate the potential capabilities of the soft medical robot flexibility are the fundamental guarantee for clinical medical applications. Flexible actuation that used to provide power, intelligent control algorithms which are the exact executors, and the wide range stiffness of the soft materials are the three important influence factors for soft medical robots. CONCLUSION Some reasonable suggestions and possible solutions for soft and flexible medical robots are proposed, including novel materials, flexible actuation concepts with a built-in source of energy or power, programmable flexibility, and adjustable stiffness.
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Affiliation(s)
- Yongde Zhang
- Intelligent Machine Institute, Harbin University of Science and Technology, Harbin, China
| | - Mingyue Lu
- Intelligent Machine Institute, Harbin University of Science and Technology, Harbin, China
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Desai JP, Sheng J, Cheng SS, Wang X, Deaton NJ, Rahman N. Towards Patient-Specific 3D-Printed Robotic Systems for Surgical Interventions. ACTA ACUST UNITED AC 2019; 1:77-87. [PMID: 32984777 DOI: 10.1109/tmrb.2019.2912444] [Citation(s) in RCA: 16] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/14/2022]
Abstract
Surgical robots have been extensively researched for a wide range of surgical procedures due to the advantages of improved precision, sensing capabilities, motion scaling, and tremor reduction, to name a few. Though the underlying disease condition or pathology may be the same across patients, the intervention approach to treat the condition can vary significantly across patients. This is especially true for endovascular interventions, where each case brings forth its own challenges. Hence it is critical to develop patient-specific surgical robotic systems to maximize the benefits of robot-assisted surgery. Manufacturing patient-specific robots can be challenging for complex procedures and furthermore the time required to build them can be a challenge. To overcome this challenge, additive manufacturing, namely 3D-printing, is a promising solution. 3D-printing enables fabrication of complex parts precisely and efficiently. Although 3D-printing techniques have been researched for general medical applications, patient-specific surgical robots are currently in their infancy. After reviewing the state-of-the-art in 3D-printed surgical robots, this paper discusses 3D-printing techniques that could potentially satisfy the stringent requirements for surgical interventions. We also present the accomplishments in our group in developing 3D-printed surgical robots for neurosurgical and cardiovascular interventions. Finally, we discuss the challenges in developing 3D-printed surgical robots and provide our perspectives on future research directions.
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Affiliation(s)
- Jaydev P Desai
- J. P. Desai, J. Sheng, N. J. Deaton, and N. Rahman are with Medical Robotics and Automation (RoboMed) Laboratory in the Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332 USA
| | - Jun Sheng
- J. P. Desai, J. Sheng, N. J. Deaton, and N. Rahman are with Medical Robotics and Automation (RoboMed) Laboratory in the Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332 USA
| | - Shing Shin Cheng
- S. S. Cheng is with the Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Shatin, N.T. Hong Kong SAR, China
| | - Xuefeng Wang
- X. Wang is with the Department of Mechanical Engineering, University of Alabama, Tuscaloosa, AL, 35487, USA
| | - Nancy J Deaton
- J. P. Desai, J. Sheng, N. J. Deaton, and N. Rahman are with Medical Robotics and Automation (RoboMed) Laboratory in the Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332 USA
| | - Nahian Rahman
- J. P. Desai, J. Sheng, N. J. Deaton, and N. Rahman are with Medical Robotics and Automation (RoboMed) Laboratory in the Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332 USA
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Dong Z, Guo Z, Lee KH, Fang G, Tang WL, Chang HC, Chan DTM, Kwok KW. High-Performance Continuous Hydraulic Motor for MR Safe Robotic Teleoperation. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2899189] [Citation(s) in RCA: 13] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Tyagi M, Pan J, Jager EWH. Novel fabrication of soft microactuators with morphological computing using soft lithography. MICROSYSTEMS & NANOENGINEERING 2019; 5:44. [PMID: 31636933 PMCID: PMC6799821 DOI: 10.1038/s41378-019-0092-z] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/02/2019] [Revised: 07/19/2019] [Accepted: 07/27/2019] [Indexed: 05/14/2023]
Abstract
A simple and cost-effective method for the patterning and fabrication of soft polymer microactuators integrated with morphological computation is presented. The microactuators combine conducting polymers to provide the actuation, with spatially designed structures for a morphologically controlled, user-defined actuation. Soft lithography is employed to pattern and fabricate polydimethylsiloxane layers with geometrical pattern, for use as a construction element in the microactuators. These microactuators could obtain multiple bending motions from a single fabrication process depending on the morphological pattern defined in the final step. Instead of fabricating via conventional photolithography route, which involves multiple steps with different chromium photomasks, this new method uses only one single design template to produce geometrically patterned layers, which are then specifically cut to obtain multiple device designs. The desired design of the actuator is decided in the final step of fabrication. The resulting microactuators generate motions such as a spiral, screw, and tube, using a single design template.
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Affiliation(s)
- Manav Tyagi
- Sensor and Actuator Systems, Department of Physics, Chemistry, and Biology (IFM), Linköping University, Linköping, 58183 Sweden
| | - Jingle Pan
- Sensor and Actuator Systems, Department of Physics, Chemistry, and Biology (IFM), Linköping University, Linköping, 58183 Sweden
| | - Edwin W. H. Jager
- Sensor and Actuator Systems, Department of Physics, Chemistry, and Biology (IFM), Linköping University, Linköping, 58183 Sweden
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Computer-assisted planning for a concentric tube robotic system in neurosurgery. Int J Comput Assist Radiol Surg 2018; 14:335-344. [PMID: 30478533 DOI: 10.1007/s11548-018-1890-8] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/08/2018] [Accepted: 11/14/2018] [Indexed: 10/27/2022]
Abstract
PURPOSE Laser-induced thermotherapy in the brain is a minimally invasive procedure to denature tumor tissue. However, irregularly shaped brain tumors cannot be treated using existing commercial systems. Thus, we present a new concept for laser-induced thermotherapy using a concentric tube robotic system. The planning procedure is complex and consists of the optimal distribution of thermal laser ablations within a volume as well as design and configuration parameter optimization of the concentric tube robot. METHODS We propose a novel computer-assisted planning procedure that decomposes the problem into task- and robot-specific planning and uses a multi-objective particle swarm optimization algorithm with variable length. RESULTS The algorithm determines a Pareto-front of optimal ablation distributions for three patient datasets. It considers multiple objectives and determines optimal robot parameters for multiple trajectories to access the tumor volume. CONCLUSIONS We prove the effectiveness of our planning procedure to enable the treatment of irregularly shaped brain tumors. Multiple trajectories further increase the applicability of the procedure.
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Chen Y, Godage I, Su H, Song A, Yu H. Stereotactic Systems for MRI-Guided Neurosurgeries: A State-of-the-Art Review. Ann Biomed Eng 2018; 47:335-353. [PMID: 30377898 DOI: 10.1007/s10439-018-02158-0] [Citation(s) in RCA: 17] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/25/2018] [Accepted: 10/17/2018] [Indexed: 10/28/2022]
Abstract
Recent technological developments in magnetic resonance imaging (MRI) and stereotactic techniques have significantly improved surgical outcomes. Despite the advantages offered by the conventional MRI-guided stereotactic neurosurgery, the robotic-assisted stereotactic approach has potential to further improve the safety and accuracy of neurosurgeries. This review aims to provide an update on the potential and continued growth of the MRI-guided stereotactic neurosurgical techniques by describing the state of the art in MR conditional stereotactic devices including manual and robotic-assisted. The paper also presents a detailed overview of MRI-guided stereotactic devices, MR conditional actuators and encoders used in MR conditional robotic-assisted stereotactic devices. The review concludes with several research challenges and future perspectives, including actuator and sensor technique, MR image guidance, and robot design issues.
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Affiliation(s)
- Yue Chen
- Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, USA.
| | - Isuru Godage
- School of Computing, DePaul University, Chicago, IL, USA
| | - Hao Su
- Department of Mechanical Engineering, City College of New York, New York, NY, USA
| | - Aiguo Song
- School of Instrument Science and Engineering, Southeast University, Nanjing, People's Republic of China
| | - Hong Yu
- Department of Neurological Surgery, Vanderbilt University, Nashville, TN, USA
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Maddahi Y, Zareinia K, Tomanek B, Sutherland GR. Challenges in developing a magnetic resonance-compatible haptic hand-controller for neurosurgical training. Proc Inst Mech Eng H 2018; 232:954411918806934. [PMID: 30355029 DOI: 10.1177/0954411918806934] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/14/2022]
Abstract
A haptic device is an actuated human-machine interface utilized by an operator to dynamically interact with a remote environment. This interaction could be virtual (virtual reality) or physical such as using a robotic arm. To date, different mechanisms have been considered to actuate the haptic device to reflect force feedback from the remote environment. In a low-force environment or limited working envelope, the control of some actuation mechanisms such as hydraulic and pneumatic may be problematic. In the development of a haptic device, challenges include limited space, high accuracy or resolution, limitations in kinematic and dynamic solutions, points of singularity, dexterity as well as control system development/design. Furthermore, the haptic interface designed to operate in a magnetic resonance imaging environment adds additional challenges related to electromagnetic interference, static/variable magnetic fields, and the use of magnetic resonance-compatible materials. Such a device would allow functional magnetic resonance imaging to obtain information on the subject's brain activity while performing a task. When used for surgical trainees, functional magnetic resonance imaging could provide an assessment of surgical skills. In this application, the trainee, located supine within the magnet bore while observing the task environment on a graphical user interface, uses a low-force magnetic resonance-compatible haptic device to perform virtual surgical tasks in a limited space. In the quest to develop such a device, this review reports the multiple challenges faced and their potential solutions. The review also investigates efforts toward prototyping such devices and classifies the main components of a magnetic resonance-compatible device including actuation and sensory systems and materials used.
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Affiliation(s)
- Yaser Maddahi
- 1 Project NeuroArm, Department of Clinical Neuroscience and the Hotchkiss Brain Institute, University of Calgary, Calgary, AB, Canada
| | - Kourosh Zareinia
- 1 Project NeuroArm, Department of Clinical Neuroscience and the Hotchkiss Brain Institute, University of Calgary, Calgary, AB, Canada
- 2 Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, ON, Canada
| | - Boguslaw Tomanek
- 1 Project NeuroArm, Department of Clinical Neuroscience and the Hotchkiss Brain Institute, University of Calgary, Calgary, AB, Canada
- 3 Division of Medical Physics, Department of Oncology, University of Alberta, Edmonton, AB, Canada
| | - Garnette R Sutherland
- 1 Project NeuroArm, Department of Clinical Neuroscience and the Hotchkiss Brain Institute, University of Calgary, Calgary, AB, Canada
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Paternò L, Tortora G, Menciassi A. Hybrid Soft-Rigid Actuators for Minimally Invasive Surgery. Soft Robot 2018; 5:783-799. [PMID: 30281418 DOI: 10.1089/soro.2017.0140] [Citation(s) in RCA: 18] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022] Open
Abstract
Fluidic mechanisms have stimulated research and development in minimally invasive surgery instrumentations, because of their good performance in limited size and their force/torque generation with respect to other types of actuation systems. Fluidic solutions can be divided in two major classes: (i) elastic fluidic actuators and (ii) piston-cylinder actuators. Elastic fluidic actuators generate lower forces with smaller displacements; nevertheless, piston-cylinder solutions require seals, which can generate friction and require maintenance costs for a good reliability. The proposed solution is based on a hybrid soft-rigid actuation, which aims to overcome the limitations of both previous solutions while preserving the main advantages of the overall fluidic approach. This approach results in very compact, powerful, and low-cost actuators, which are highly customizable and adaptable to specific constraints, in medical applications but even beyond. This article proposes a novel design of hybrid soft-rigid actuators to be used as basic mechanical joints for enabling pitch and roll degrees of freedom for a miniature robotic arm. Forces up to 1.4 N and up to 2.77 N have been obtained for the above joints, respectively, and even better performance can be reached (up to 3 N) with further improvements, as demonstrated in this article.
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Affiliation(s)
- Linda Paternò
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera (PI), Italy
| | - Giuseppe Tortora
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera (PI), Italy
| | - Arianna Menciassi
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera (PI), Italy
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Guo Z, Leong MCW, Su H, Kwok KW, Chan DTM, Poon WS. Techniques for Stereotactic Neurosurgery: Beyond the Frame, Toward the Intraoperative Magnetic Resonance Imaging–Guided and Robot-Assisted Approaches. World Neurosurg 2018; 116:77-87. [DOI: 10.1016/j.wneu.2018.04.155] [Citation(s) in RCA: 31] [Impact Index Per Article: 5.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/08/2018] [Revised: 04/20/2018] [Accepted: 04/21/2018] [Indexed: 11/16/2022]
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Chen Y, Godage IS, Tse ZTH, Webster RJ, Barth EJ. Characterization and Control of a Pneumatic Motor for MR-conditional Robotic Applications. IEEE/ASME TRANSACTIONS ON MECHATRONICS : A JOINT PUBLICATION OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY AND THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2017; 22:2780-2789. [PMID: 31105420 PMCID: PMC6519483 DOI: 10.1109/tmech.2017.2767906] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/01/2023]
Abstract
Magnetic Resonance (MR) guided interventional robots have recently been developed for a variety of surgeries, such as biopsy, ablation, and brachytherapy. The actuators and encoders that power and track such robots must be MR-conditional. In this paper, we propose an MR-conditional pneumatic motor with an integrated and custom-built fiber-optical encoder that provides powerful and accurate actuation. The motor is coupled with a modular plastic gearbox that provides a variety of gear ratio options so that the motor can be adapted to application requirements. With a 100:1 gear reduction at 0.55 MPa, the motor achieves 460 mNm stall torque and 370 rpm no-load speed, which leads to the peak output power of 6W. The motor has the bandwidth of approximately 1.1 Hz and 3.5 Hz when connected to 8 m and 0.2 m air hoses, respectively. The motor was tested in a 3T MRI scanner. No image artifact was observed and maximum signal to noise ratio (SNR) variation was less than 5%. Different from most of the existing MR-conditional pneumatic actuators, the proposed motor shape is more like the traditional electric motors, which offers more flexibility in the MR-conditional robot design.
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Affiliation(s)
- Yue Chen
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37212, USA
| | - Isuru S Godage
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37212, USA
| | - Zion Tsz Ho Tse
- College of Engineering, The University of Georgia, Athens, GA, 30605, USA
| | - Robert J Webster
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37212, USA
| | - Eric J Barth
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, 37212, USA
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Comber DB, Pitt EB, Gilbert HB, Powelson MW, Matijevich E, Neimat JS, Webster RJ, Barth EJ. Optimization of Curvilinear Needle Trajectories for Transforamenal Hippocampotomy. Oper Neurosurg (Hagerstown) 2017; 13:15-22. [PMID: 28580377 PMCID: PMC5453508 DOI: 10.1227/neu.0000000000001361] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/01/2015] [Accepted: 06/08/2016] [Indexed: 11/23/2022] Open
Abstract
BACKGROUND The recent development of MRI-guided laser-induced thermal therapy (LITT) offers a minimally invasive alternative to craniotomies performed for tumor resection or for amygdalohippocampectomy to control seizure disorders. Current LITT therapies rely on linear stereotactic trajectories that mandate twist-drill entry into the skull and potentially long approaches traversing healthy brain. The use of robotically-driven, telescoping, curved needles has the potential to reduce procedure invasiveness by tailoring trajectories to the curved shape of the ablated structure and by enabling access through natural orifices. OBJECTIVE To investigate the feasibility of using a concentric tube robot to access the hippocampus through the foramen ovale to deliver thermal therapy and thereby provide a percutaneous treatment for epilepsy without drilling the skull. METHODS The skull and both hippocampi were segmented from dual CT/MR image volumes for 10 patients. For each of the 20 hippocampi, a concentric tube robot was designed and optimized to traverse a trajectory from the foramen ovale to and through the hippocampus from head to tail. RESULTS Across all 20 cases, the mean distances (error) between hippocampus medial axis and backbone of the needle were 0.55 mm, 1.11 mm, and 1.66 mm for best, mean, and worst case, respectively. CONCLUSION These curvilinear trajectories would provide accurate transforamenal delivery of an ablation probe to typical hippocampus volumes. This strategy has the potential to both decrease the invasiveness of the procedure and increase the completeness of hippocampal ablation.
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Affiliation(s)
- David B. Comber
- Department of Mechanical Engineering, Vanderbilt University, Nashville, Tenne-ssee
| | - E. Bryn Pitt
- Department of Mechanical Engineering, Vanderbilt University, Nashville, Tenne-ssee
| | - Hunter B. Gilbert
- Department of Mechanical Engineering, Vanderbilt University, Nashville, Tenne-ssee
| | - Matthew W. Powelson
- Department of Mechanical Engi-neering, Tennessee Technological Univ-ersity, Cookeville, Tennessee
| | - Emily Matijevich
- Depart-ment of Bioengineering, University of Illinois at Urbana-Champaign, Urbana, Illinois
- Current affiliation: Department of Mechanical Engineering, Vanderbilt University, Nashville, Tennessee
| | - Joseph S. Neimat
- Department of Neurological Surgery, Vanderbilt University Medical Center, Nashville, Tennessee
- Current affiliation: Department of Neurosurgery, University of Louisville, Louisville, Kentucky
| | - Robert J. Webster
- Department of Mechanical Engineering, Vanderbilt University, Nashville, Tenne-ssee
| | - Eric J. Barth
- Department of Mechanical Engineering, Vanderbilt University, Nashville, Tenne-ssee
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Franco E. Combined Adaptive and Predictive Control for a Teleoperation System with Force Disturbance and Input Delay. Front Robot AI 2016. [DOI: 10.3389/frobt.2016.00048] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
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Bryn Pitt E, Comber DB, Chen Y, Neimat JS, Webster RJ, Barth EJ. Follow-the-Leader Deployment of Steerable Needles Using a Magnetic Resonance-Compatible Robot With Stepper Actuators1. J Med Device 2016. [DOI: 10.1115/1.4033242] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Affiliation(s)
- E. Bryn Pitt
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235
| | - David B. Comber
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235
| | - Yue Chen
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235
| | - Joseph S. Neimat
- Department of Neurological Surgery, Vanderbilt University Medical Center, Nashville, TN 37232
| | - Robert J. Webster
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235
| | - Eric J. Barth
- Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235
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