Design and Control of a Piezoelectric Actuated Prostate Intervention Robotic System

Lin, Yuyang; Shi, Yunlai; Zhang, Jun; Wang, Fugang; Wu, Wenbo; Sun, Haichao

doi:10.1109/ur49135.2020.9144768

Cited by 8 publications

(3 citation statements)

References 13 publications

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“…This information helps in haptic control for needle insertion to overcome force sensor placement issues within the MR scanner. Lin et al [117] presented a 6 DOF serial mechanism robot for prostate intervention, actuated using 6 USMs (3 for Cartesian motion, 2 for needle orientation, and 1 for needle insertion). Authors measured 1.…”

Section: E Mri Based Robotic Developments For Prostate Interventionsmentioning

confidence: 99%

Review of Clinical and Technological Consideration for MRI-Guided Robotic Prostate Brachytherapy

Dhaliwal

Chettibi

Wilby

et al. 2021

IEEE Trans. Med. Robot. Bionics

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Low Dose Rate Brachytherapy (LDR-BT) is a technique for treating localized prostate cancer by implanting radioactive seeds. In conventional practice, the delivery of seeds is performed using transrectal ultrasonography (TRUS) imaging for implant guidance and checked using computed-tomography for post-implant dosimetry. In the case of TRUS, accuracy can be compromised due to sub-optimal imaging. Magnetic Resonance Imaging (MRI), however, is known to provide better soft-tissue contrast, therefore, increasing the ability to detect small lesions; for that reason, the integration of intraoperative MRI in BT workflows has been investigated over the last two decades. The fusion of preoperative MR-images during TRUS-brachytherapy is possible. However, the image registration process introduces a source of uncertainty. Manual, real-time intra-operative LDR-BT is challenging under MRI due to confined space and procedural workflows. This motivates the development of MRI-compatible robots for prostate BT, with potential advantages of improved source placement accuracy and final dosimetry. In this paper, the state-of-art of technological components in MRI compatible robots, especially for LDR-BT, has been presented. This systematic review helps us to position an ongoing Cooperative Brachytherapy project, developing a real-time MRI-guided robot for adaptive LDR-BT. The design approach includes integrating separate modules: imaging, dose planning, needles, and robot.

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Section: E Mri Based Robotic Developments For Prostate Interventionsmentioning

confidence: 99%

Review of Clinical and Technological Consideration for MRI-Guided Robotic Prostate Brachytherapy

Dhaliwal

Chettibi

Wilby

et al. 2021

IEEE Trans. Med. Robot. Bionics

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“…Goldenberg et al [17] developed an MRI-P robot using USM actuation with optical encoders, demonstrated ablation using automated trajectory for manual needle placement and stated that it is capable of BT needle placement with the integration of an implant loader device. Lin et al [18] developed a compact 6 DOF robot with USM actuation for prostate intervention. Only a few robots [7], [8], [9], [11], and [19] demonstrated robotized implant or marker placement under MRI guidance, and other systems remain limited needle placement and intervention to be performed by the physician.…”

Section: Introductionmentioning

confidence: 99%

Cooperative Brachytherapy Robotic Concept for Localized Cancer Treatment Under Real-Time MRI

Belarouci

Dhaliwal

Sanz-Lopez

et al. 2022

IEEE Trans. Med. Robot. Bionics

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Currently, localized cancer treatment is one of the focused research interests of Physicians. Indeed, with the advent of sensor and actuator technologies with the feasibility of integrating multiple systems, treatment and diagnosis have gained more interest in incorporating Magnetic Resonance Imaging (MRI) due to better soft-tissue contrast. In this paper, the authors report the development of the MR-based Cooperative Brachytherapy (CoBra) robot design for in-bore patient prostate intervention, in terms of diagnosis and treatment of localized cancers. The presented CoBra system is characterized by three main MR-compatible components: a suitable leg-support ensuring patient stabilization, a versatile robotized needle guide, and an automated implant driver to deposit precisely radioactive seeds. In fact, ergonomically in-bore needle placement is a challenging problem, whereas the CoBra robot aims to help in in-bore intra-operative intervention under closed-loop control based on imagery feedback. This feedback might be exploited judiciously for tracking online the biological target during changes after needle insertions. Within this framework, the paper discusses the CoBra robot with a focus on kinematics design, modeling, instrumentation, control, and MRI in-bore robot tests, with respect to the adopted clinical workflow. Also, Preliminary experimental results simulating an adaptive prostate LDR-BT under 3 Tesla MRI are given to validate the proposed concept.

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“…Further particularly, change mechanization becomes strong when a situation of nearness to the hurdle is achieved. The proposed system has been lastly examined relying on an actual robot rigger simulated in a V-REP medium [20]. The heterogeneous multi-robot framework is one of the most substantial research trends in the robotic field.…”

Section: Introductionmentioning

confidence: 99%

Development of a dynamic intelligent recognition system for a real-time tracking robot

Salih

Ghazal

Mohammed

2021

IJRA

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<p>Nowadays, the development of computer vision technology help to overcome track and identify humans within a location in the complex environment through mobile robots, which gives the motivation to presents a vision-based approach to a mobile security robot. The proposed system utilizes a wireless camera to detect the objects in the field of robot view. Principle component analysis (PCA) algorithm and filters are used to implement and demonstrate the process of the images. This gives the designed system the ability to recognize objects independently from current light conditions. Frame tracking in the images uses an attention system to get an estimate of the position of a person. This estimate helps the applied camera to identify objects with changing background lighting conditions such as a fire inside a building. By using this estimate, the applied camera could identify objects with changing background lighting conditions such as a fire inside premises. The system has been tested using the MATLAB environment, and the empirical performance explains the efficiency and strongness of the suggested device.</p>

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Design and Control of a Piezoelectric Actuated Prostate Intervention Robotic System

Cited by 8 publications

References 13 publications

Review of Clinical and Technological Consideration for MRI-Guided Robotic Prostate Brachytherapy

Review of Clinical and Technological Consideration for MRI-Guided Robotic Prostate Brachytherapy

Cooperative Brachytherapy Robotic Concept for Localized Cancer Treatment Under Real-Time MRI

Development of a dynamic intelligent recognition system for a real-time tracking robot

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