Intraoperative magnetic resonance imaging–conditional robotic devices for therapy and diagnosis

Abstract

Magnetic resonance imaging presents high-resolution preoperative scans of target tissue and allows for the availability of intraoperative real-time images without the exposure of patients to ionizing radiation. This has motivated scientists and engineers to integrate medical robotics with the magnetic resonance imaging modality to allow robot-assisted, image-guided diagnosis and therapy. This article provides a review of the state-of-the-art medical robotic systems available for use in conjunction with intraoperative magnetic resonance imaging. The robot functionalities and mechanical designs for a wide range of magnetic resonance imaging interventions are presented, including their magnetic resonance imaging compatibility, actuation, kinematics and the mechanical and electrical designs of the robots. Classification and comparative study of various intraoperative magnetic resonance image guided robotic systems are provided. The robotic systems reviewed are summarized in a table in detail. Current technologies for magnetic resonance imaging-conditional robotics are reviewed and their potential future directions are sketched.

Design of virtual instrument for automatic temperature visualization in magnetic fields using LabVIEW in combination with fiber-optical temperature measurement

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“…ld of hazardous X-Ray based y Schena et al [32] shows an n field, when considering ssue. Combining the therapeutic et al approach [30], we expect er Bragg grating sensors when nipulators in fields of hazardous h magnetic fields. This may be poses but also in order to obtain guiding fiber optic light into Doing so, a robotically guided within the volume can induce geted tumor cells.…”

Statics modeling of an underactuated wire-driven flexible robotic arm

“…Comparing to the length change induced by the wire motion (a few percent), this is negligible. Hence, for some general situation, the wire length can be calculated as per Equation (2). In the equation, L 0 is the initial wire length, and d is the wire spacing distance.…”

“…This shows when considering the statics, the constant curvature assumption does not stand any more. Considering equation (2), the length change of the two wires are ∆L 1 =-2.66 mm and ∆L 2 =2.62 mm respectively. When the pulling force T 1 is increased, the robotic arm is bended upward.…”

“…nderactuated flexible manipulators (UFM) are of growing interests in recent years, especially in the field of robotic surgery [2][3][4][5], industrial inspection [6], underwater propulsion [7][8][9], etc. In these applications, the manipulator needs be flexible, compact in structure.…”