INNOMOTION for Percutaneous Image-Guided Interventions

Melzer, Andreas; Gutmann, Bernd; Remmele, T.; Wolf, Rudolf; Lukoscheck, A.; Bock, Michael; Bardenheuer, Hubert J.; Fischer, Harry W.

doi:10.1109/emb.2007.910274

Cited by 174 publications

(82 citation statements)

References 7 publications

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“…The actuators behave like single acting cylinders with the advantage that a steel spring is not required, which would adversely affect the MRI compatibility of the system. This design choice reduces the number of supply lines from 6 to 4 resulting in space saving inside the MR scanner and requires fewer proportional valves than other similar devices [6] [7]. In spite of the common supply to the front chamber no mutual coupling between actuators was observed due to the slow movement of the pistons and the large flow rate the proportional valves can provide (ref.…”

Section: B Actuation and Sensingmentioning

confidence: 99%

“…Song et al [6] developed a 4-DOF robot for transperineal prostate biopsy with pneumatic actuation and 5 m supply lines. Melzer et al [7] proposed a 6-DOF MRI-compatible robot actuated by special low-friction pneumatic cylinders with the control unit residing in the MRI scanner room. Yang et al [8] developed a 4-DOF parallel robot for breast biopsy actuated by a piezo motor and by pneumatic cylinders with long supply lines.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and control of needle positioner for MRI-guided laser ablation of the liver

Franco

Ristić

2014

2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA)

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Section: B Actuation and Sensingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and control of needle positioner for MRI-guided laser ablation of the liver

Franco

Ristić

2014

2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA)

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“…The actuators behave like single acting cylinders with the advantage that a steel spring is not required, which would adversely affect the MRI compatibility of the system. This design choice reduces the number of supply lines from 6 to 4 resulting in space saving inside the MR scanner and requires fewer proportional valves than other similar devices (Song et al, 2010), (Melzer et al, 2008). In spite of the common supply to the front chamber no mutual coupling between actuators was observed due to the slow movement of the pistons and the large flow rate the proportional valves can provide (ref.…”

Section: B Actuation and Sensingmentioning

confidence: 99%

“…A 4-DOF robot for transperineal prostate biopsy with pneumatic actuation and 5 m supply lines is presented in (Song et al, 2010). A 6-DOF MRI-compatible robot actuated by special low-friction pneumatic cylinders with the control unit residing in the MRI scanner room is described in (Melzer et al, 2008). A 4-DOF parallel robot for breast biopsy actuated by pneumatic cylinders with long supply lines is described in (Yang et al, 2011a).…”

Section: Introductionmentioning

confidence: 99%

Design and control of 3-DOF needle positioner for MRI-guided laser ablation of liver tumours

Franco

Aurisicchio

Ristić

2015

IJBBR

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This article presents the design and control of a pneumatic needle positioner for laser ablation of liver tumours under guidance by Magnetic Resonance Imaging (MRI). The prototype was developed to provide accurate point-to-point remote positioning of a needle guide inside an MR scanner with the aim of evaluating the potential advantages over the manual procedure. In order to minimize alterations to the MR environment the system employs plastic pneumatic actuators and 9 m long supply lines connecting with the control hardware located outside the magnet room. An improved Sliding Mode Control (SMC) scheme was designed for the position control of the device. Wireless micro-coil fiducials are used for automatic registration in the reference frame of the MR scanner. The MRI-compatibility and the accuracy of the prototype are demonstrated with experiments in the MR scanner. Keywords: Medical Robotics; Pneumatic Systems; MRI; Sliding Mode ControlReference to this paper should be made as follows: Franco, E., Aurisicchio, M., Ristic, M. (2016) 'Design and control of 3-DOF needle positioner for MRI-guided laser ablation of liver tumours', Int.

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“…However, pneumatic valves should be placed far from the scanner, since they employ electric currents that can interact with the magnetic field. In some notable solutions this issue was addressed placing the valves inside a special shielded enclosure in the scanner room [17], [18]. In other works it was considered advantageous placing the valves outside the scanner room [12], [20], [21].…”

Section: Introductionmentioning

confidence: 99%