MR-Conditional Actuations: A Review

Xiao, Qingyu; Monfaredi, Reza; Musa, Mishek; Cleary, Kevin; Chen, Yue

doi:10.1007/s10439-020-02597-8

Cited by 24 publications

(10 citation statements)

References 80 publications

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“…These include the strong, applied magnetic field, the space restrictions of the MRI bore, high operation cost, and lack of portability. To accommodate the magnetic field, robotic positioning systems and the HIFU transducer used under MR guidance must be composed of components that are either MR-conditional or are appropriately shielded to prevent SNR reduction [ 106 , 107 , 108 ]. This may be accomplished with piezoelectric or pneumatic elements for positioning actuation, along with plastic components for the chassis [ 93 , 107 , 109 ].…”

Section: Discussion and Future Work Of Image-guided Hifu Systemsmentioning

confidence: 99%

“…To accommodate the magnetic field, robotic positioning systems and the HIFU transducer used under MR guidance must be composed of components that are either MR-conditional or are appropriately shielded to prevent SNR reduction [ 106 , 107 , 108 ]. This may be accomplished with piezoelectric or pneumatic elements for positioning actuation, along with plastic components for the chassis [ 93 , 107 , 109 ]. Due to the restrictive nature of the MRI bore, the robotic positioning system must have a small footprint to fit in the MRI bore with the patient.…”

Section: Discussion and Future Work Of Image-guided Hifu Systemsmentioning

confidence: 99%

“…Specifically, the majority of MRgHIFU systems focus on setpoint targeting (i.e., targeting a single lesion, which requires a minimum of 3 DoF), whereas USgHIFU enabled more advanced path-planning algorithms (for relatively stationary organs) to preserve healthy tissue. This is likely due to the preclusion of ferromagnetic materials in MR-guided interventions, which restricts actuator use to pneumatics, hydraulics, or piezoelectric actuators, where piezoelectric actuators typically do not operate synchronously with imaging as imaging quality is reduced [ 106 , 107 ]. Thus, this identifies an additional research need.…”

Section: Discussion and Future Work Of Image-guided Hifu Systemsmentioning

confidence: 99%

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Review of Robot-Assisted HIFU Therapy

Gunderman

Montayre

Ranjan

et al. 2023

Sensors

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This paper provides an overview of current robot-assisted high-intensity focused ultrasound (HIFU) systems for image-guided therapies. HIFU is a minimally invasive technique that relies on the thermo-mechanical effects of focused ultrasound waves to perform clinical treatments, such as tumor ablation, mild hyperthermia adjuvant to radiation or chemotherapy, vein occlusion, and many others. HIFU is typically performed under ultrasound (USgHIFU) or magnetic resonance imaging guidance (MRgHIFU), which provide intra-operative monitoring of treatment outcomes. Robot-assisted HIFU probe manipulation provides precise HIFU focal control to avoid damage to surrounding sensitive anatomy, such as blood vessels, nerve bundles, or adjacent organs. These clinical and technical benefits have promoted the rapid adoption of robot-assisted HIFU in the past several decades. This paper aims to present the recent developments of robot-assisted HIFU by summarizing the key features and clinical applications of each system. The paper concludes with a comparison and discussion of future perspectives on robot-assisted HIFU.

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Section: Discussion and Future Work Of Image-guided Hifu Systemsmentioning

confidence: 99%

Section: Discussion and Future Work Of Image-guided Hifu Systemsmentioning

confidence: 99%

Section: Discussion and Future Work Of Image-guided Hifu Systemsmentioning

confidence: 99%

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Review of Robot-Assisted HIFU Therapy

Gunderman

Montayre

Ranjan

et al. 2023

Sensors

Self Cite

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“…Operating a robot under MR-guidance is an active research area that has seen great advancements over the last two decades [222][223][224]. In addition to the previously mentioned MR safe and MR-conditional robot-assisted platforms for endovascular interventions in section 2.4.3 [79][80][81][82], several research groups have investigated other clinical applications such as breast biopsy [225], prostate biopsy [226][227][228], and stereotactic neurosurgery [229], to name a few.…”

Section: Robotic Controlmentioning

confidence: 99%

X-ray to MR: the progress of flexible instruments for endovascular navigation

et al. 2021

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“…To realize advanced MRI guided surgical robots, it is vital to design MRI compatible robot joint actuators and corresponding precise control algorithm while considering the surgical safety and accuracy requirements. 4 Compared with hydraulic actuators, 5 ultrasonic motor actuators, 6 cable driven actuators, 7 and shape memory alloy actuators, 8 pneumatic actuators possess appealing advantages in higher sterility and safety, leading to wide studies and applications in the field of MRI guided robots. 9 Based on the architecture and working principle, MRI-compatible pneumatic actuators can be classified into piston cylinders, 10 gear step motors, 11,12 turbine motors, 13,14 and deformation actuators.…”

Section: Introductionmentioning

confidence: 99%

Design and stability analysis of a nonlinear controller for MRI-compatible pneumatic motors

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Among permissible magnetic resonance imaging (MRI) compatible actuators for surgical robots, turbine-based pneumatic motors are noticeably favorited due to its compact size, simpler structure, fast additively manufacturability, and continuous bidirectional motion ability. Yet, the system dynamics of pneumatic motors, especially pneumatic nonlinearity, is often neglected and simple PID control is used, resulting in low system bandwidth (~0.5 Hz). To tackle this obstacle, this paper proposes a model-based nonlinear control method for MRI-compatible pneumatic motors. Dynamic models for a pneumatic motor previously designed by the author are developed first, followed by establishment of the nonlinear feedback controller. An error based Lyapunov candidate function is designed and mathematically proved to be globally uniformly asymptotically stable, guaranteeing desired accuracy. Experiment control tests demonstrate that the proposed control method can achieve satisfactorily better tracking accuracy than a conventional model-independent PID controller with respect to amplitude attenuation and phase delay.

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MR-Conditional Actuations: A Review

Cited by 24 publications

References 80 publications

Review of Robot-Assisted HIFU Therapy

Review of Robot-Assisted HIFU Therapy

X-ray to MR: the progress of flexible instruments for endovascular navigation

Design and stability analysis of a nonlinear controller for MRI-compatible pneumatic motors

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