Design considerations for a novel MRI compatible manipulator for prostate cryoablation

Abstract

A novel cryoablation procedure based on the use of a robotic assistant is proposed. The device design was presented with demonstration of MRI compatibility. Further developments include automatic registration and in vivo experimental testing.

Image-guided robotic interventions for prostate cancer

“…7 Abdelaziz et al 6 described a novel MRIcompatible manipulator that can position a needle guide for manual needle insertion, at the angle needed by the radiologist to reach a designated target. Although the MRI compatibility of the system has been described, 6 the a ccuracy of needle insertion is yet to be reported. Cryotherapy is less well-described in prostate cancer management than HIFU and, as such, image-guided robotic systems are in their infancy.…”

“…Robotic assistance has also been applied to other operatordependent interventions in prostate cancer diagnosis and minimally invasive therapy that require concomitant imaging, such as high-intensity focused ultrason o graphy (HIFU), 2,3 brachytherapy 4,5 and cryotherapy. 6 These systems offer the potential benefits of improved accuracy and reproducibility of treatment objectives. Although focal ablative therapies (robot-assisted or not), such as HIFU, have demonstrated the ability to preserve continence and erectile function, long-term data r egarding oncological outcomes are still awaited.…”

Toward unibody robotic structures with integrated functions using multimaterial additive manufacturing: Case study of an MRI-compatible interventional device

“…Remote manipulation, automated registration using a robotic device can greatly help the radiologist. Many robotic devices have consequently been designed [1], [2]. MR-compatibility is then a strong design constraint [3], and the proposed solutions still do not offer an excellent compromise between size and medical or MR-compatibility requirements.…”

Influence of Spring Characteristics on the Behavior of Tensegrity Mechanisms

“…The tensioned components are then generally linear springs, in order to systematically reach Quentin Boehler (quentin.boehler@icube.unistra.fr), Marc Vedrines, Pierre Renaud ICube, France Salih Abdelaziz, Philippe Poignet LIRMM, France 1 equilibrated configurations without tension loss. They have recently received a lot of attention [8,9,11], and could be interesting solutions for instance in surgical contexts, where lightweight devices with large workspaces are required [1].…”

“…In section 3, a 2-DOF mechanism is analyzed. This mechanism can be used as a tool holder in a surgical task [1]. Conclusions are finally given with emphasis on further steps towards a generalization for other tensegrity mechanisms.…”