A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study

Su, Hao; Cardona, D.C.; Shang, Weijian; Camilo, Alexander; Cole, Gregory A.; Rucker, D. Caleb; Webster, Robert J.; Fischer, Gregory S.

doi:10.1109/icra.2012.6224550

Cited by 91 publications

(59 citation statements)

References 24 publications

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“…The robot was inserted through a neck incision and was extended through the jugular vein and the superior vena cava towards the left atrium, to perform patent foramen ovale closure. The lack of high-quality interoperative visualisation and haptic feedback complicated surgery, but research on force sensing based on Fiber-Bragg Gratings [101], [102] and MRI-compatibility [103] may provide touch and sight to these robots as well.…”

Section: Flexible Robots For Mis -3 Rd Generationmentioning

confidence: 99%

From Passive Tool Holders to Microsurgeons: Safer, Smaller, Smarter Surgical Robots

Bergeles

Yang

2014

IEEE Trans. Biomed. Eng.

182

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Abstract-Within only a few decades from its initial introduction, the field of surgical robotics has evolved into a dynamic and rapidly growing research area with increasing clinical uptake worldwide. Initially introduced for stereotaxic neurosurgery, surgical robots are now involved in an increasing number of procedures, demonstrating their practical clinical potential whilst propelling further advances in surgical innovations. Emerging platforms are also able to perform complex interventions through only a single entry incision, and navigate through natural anatomical pathways in a tethered or wireless fashion. New devices facilitate superhuman dexterity and enable the performance of surgical steps that are otherwise impossible. They also allow seamless integration of micro-imaging techniques at the cellular level, significantly expanding the capabilities of surgeons. This paper provides an overview of the significant achievements in surgical robotics and identifies the current trends and future research directions of the field in making surgical robots safer, smaller, and smarter.

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Section: Flexible Robots For Mis -3 Rd Generationmentioning

confidence: 99%

From Passive Tool Holders to Microsurgeons: Safer, Smaller, Smarter Surgical Robots

Bergeles

Yang

2014

IEEE Trans. Biomed. Eng.

182

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“…Medical images such as 3D ultrasound images [18,19] and MRI images [16] have been used to track the shape of a needle inserted into a human body. However, the accuracy of shape reconstruction seriously depends on the imaging quality, and the usage of the materials for the robot is subjected to the requirements of the imaging modality [26]. Fiber Bragg grating sensors have also been employed for measurement of needle shape [10], but the sensors are expensive and difficult to be mounted to the tubes.…”

Section: Shape Reconstructionmentioning

confidence: 99%

Development of a compact continuum tubular robotic system for nasopharyngeal biopsy

Song

et al. 2016

Med Biol Eng Comput

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Traditional posterior nasopharyngeal biopsy using a flexible nasal endoscope has the risks of abrasion and injury to the nasal mucosa and thus causing trauma to the patient. Recently, a new class of robots known as continuum tubular robots (CTRs) provide a novel solution to the challenge with miniaturized size, curvilinear maneuverability, and capability of avoiding collision within the nasal environment. This paper presents a compact CTR which is 35 cm in total length, 10 cm in diameter, 2.15 kg in weight, and easy to be integrated with a robotic arm to perform more complicated operations. Structural design, end-effector design, and workspace analysis are described in detail. In addition, teleoperation of the CTR using a haptic input device is developed for position control in 3D space. Moreover, by integrating the robot with three electromagnetic tracking sensors, a navigation system together with a shape reconstruction algorithm is developed. Comprehensive experiments are conducted to test the functionality of the proposed prototype; experiment results show that under teleoperation, the system has an accuracy of 2.20 mm in following a linear path, an accuracy of 2.01 mm in following a circular path, and a latency time of 0.1 s. It is also found that the proposed shape reconstruction algorithm has a mean error of around 1 mm along the length of the tubes. Besides, the feasibility and effectiveness of the proposed robotic system being applied to posterior nasopharyngeal biopsy are demonstrated by a cadaver experiment. The proposed robotic system holds promise to enhance clinical operation in transnasal procedures.

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“…To investigate this, a PID position controller was implemented through (12). Given a desired position θ goal , the control input is expressed in terms of position error e(t), the maximum gradient g M , at which the control input saturates, and the PID gains {K p , K i , K d }: …”

Section: E Closed-loop Position Controlmentioning

confidence: 99%

Achieving Commutation Control of an MRI-Powered Robot Actuator

et al. 2015

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Abstract-Actuators that are powered, imaged, and controlled by magnetic resonance (MR) scanners could inexpensively provide wireless control of MR-guided robots. Similar to traditional electric motors, the MR scanner acts as the stator and generates propulsive torques on an actuator rotor containing one or more ferrous particles. Generating maximum motor torque while avoiding instabilities and slippage requires closed-loop control of the electromagnetic field gradients, i.e., commutation. Accurately estimating the position and velocity of the rotor is essential for highspeed control, which is a challenge due to the low refresh rate and high latency associated with MR signal acquisition. This paper proposes and demonstrates a method for closed-loop commutation based on interleaving pulse sequences for rotor imaging and rotor propulsion. This approach is shown to increase motor torque and velocity, eliminate rotor slip, and enable regulation of rotor angle. Experiments with a closed-loop MR imaging actuator produced a maximum force of 9.4 N.Index Terms-Magnetic actuation, medical robots and systems, MRI.

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A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study

Cited by 91 publications

References 24 publications

From Passive Tool Holders to Microsurgeons: Safer, Smaller, Smarter Surgical Robots

From Passive Tool Holders to Microsurgeons: Safer, Smaller, Smarter Surgical Robots

Development of a compact continuum tubular robotic system for nasopharyngeal biopsy

Achieving Commutation Control of an MRI-Powered Robot Actuator

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