An MRI-Guided Telesurgery System Using a Fabry-Perot Interferometry Force Sensor and a Pneumatic Haptic Device

Abstract

This paper presents a surgical master-slave teleoperationsystem for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. The slave robot consists of a piezoelectrically actuated 6-degree-of-freedom (DOF) robot for needle placement with an integrated fiber optic force sensor (I-DOF axial force measurement) using the Fabry-Perot interferometry (FPI) sensing principle; it is configured to operate inside the bore of the MRI scanner during imaging. By leveraging the advantages of pneumatic and piezoelectric actuation in force and position control respectively, we have designed a pneumatically actuated master robot (haptic device) with strain gauge based force sensing that is configured to operate the slave from within the scanner room during imaging. The slave robot follows the insertion motion of the haptic device while the haptic device displays the needle insertion force as measured by the FPI sensor. Image interference evaluation demonstrates that the telesurgery system presents a signal to noise ratio (SNR) reduction of less than 17% and less than 1% geometric distortion during simultaneous robot motion and imaging. Teleoperated needle insertion and rotation experiments were performed to reach 10 targets in a soft tissue-mimicking phantom with 0.70±0.35 mm Cartesian space error.

Magnetic Resonance Imaging Compatible Non-Invasive Fibre-Optic Sensors Based on the Bragg Gratings and Interferometers in the Application of Monitoring Heart and Respiration Rate of the Human Body: A Comparative Study

“…The subjects tested were between 24 and 47 years of age, their weight was between 45 and 92 kg and their height was between 157 and 186 cm. This measurement is described in more detail in Section 4.1 and was necessary because, although there are studies that describe practical measurements with fibre-optic sensors in MR scanner, these studies involve sensors of different constructions with a different implementation method on the human body, or by the method the information is evaluated and processed [ 41 , 45 , 46 , 86 , 87 , 88 , 89 , 90 , 91 , 92 , 93 , 94 ].…”

Study of the Operational Safety of a Vascular Interventional Surgical Robotic System

“…At present, many research teams are conducting research on force feedback. For example, in reference [ 24 ], they designed a pneumatically actuated master robot (haptic device) with strain-gauge-based force sensing that was configured to operate the slave from within the scanner room during imaging. In reference [ 25 ], Hu et al designed a natural haptic user interface for a non-link-coupled mechanical surgical robot.…”

Telesurgery: Past, Present, and Future

“…This system was also equipped with an eye-tracking technology, which halts the movements of the robotic arms when the operator’s eyes are not fixed on the screen [ 12 , 17 - 18 ] and provided an added cost-effectiveness by using low-cost reusable parts [ 12 , 18 ]. In 2017, Su et al presented a new MRI-guided telesurgery system that performs percutaneous interventions and provides haptic feedback to the operator using varying degrees of pneumatic pressure [ 19 ].…”