Robot for ultrasound-guided prostate imaging and intervention

Kim, Chunwoo; Schäfer, Felix; Chang, Dolly S.; Petrisor, Doru; Han, Misop; Stoianovici, Dan

doi:10.1109/iros.2011.6048281

Cited by 6 publications

(10 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The detailed structure is analyzed based on screw theory and the displacement manifold which has 9 degrees of freedom (DOF) is shown in Fig intervention [7] MRI provides information that differs from other imaging modalities, which can characterize and discriminate among body tissues using their physical and biochemical properties such as water, iron, fat and extravascular blood. It provides high contrast between the difference soft tissues of the body, which makes it especially useful in imaging the brain, muscles, the heart, and cancers compared with other medical imaging technology.…”

Section: Background On Image-guided Surgerymentioning

confidence: 99%

Reconfigurable Fiducial-Integrated Modular Needle Driver for MRI-Guided Percutaneous Interventions

Ji¹,

Matte²,

Li³

et al. 2013

Journal of Medical Devices

View full text Add to dashboard Cite

Needle-based interventions are pervasive in Minimally Invasive Surgery (MIS), and are often used in a number of diagnostic and therapeutic procedures, including biopsy and brachytherapy seed placement. Magnetic Resonance Imaging (MRI) which can provide high quality, real time and high soft tissue contrast imaging, is an ideal guidance tool for image-guided therapy (IGT). Therefore, a MRI-guided needle-based surgical robot I would first like to express my sincerest gratitude to my advisor, Dr. Gregory Fischer, for all the support and guidance from the onset of my experience at Worcester Polytechnic Institute. He has fund of knowledge in medical robotics and gives me more instruction in electronic circuit design. His technical expertise and visionary leadership has significantly guided my research work and career development. I attribute the level of my master degree to his encouragement and effort and without him in this thesis, too, would not have been completed or written. Besides my advisor, I would like to thank the rest of my thesis committee: Prof. Glenn R. Gaudette and Prof. Stephen S. Nestinger, for their encouragement and insightful comments. Furthermore, I would also like to express my deepest gratitude to my fellow labmates in Automation and Interventional Medicine Lab. Wenjian Shang gave me more basic knowledge of circuit design and PCB design. Gang Li helped me a lot with the software and mechanical design. Alex Camilo gave me more help with motor driving system. In addition, I will also thank Hao Su, Yunzhao Ma, Hanling Hong and Guangda Lu for their numerous help both in academic and in life. Finally, I would like to thank my parents, Anzhong Ji and Yuhong Lu, for supporting me throughout all my studies at Worcester Polytechnic Institute. I would especially like to thank them for their encouragement and understanding when I am in troubles in both in master study and life. Their selfless love from another side of the world always keeps me moving forward. IV Dedication This thesis is dedicated to my parents Anzhong Ji and Yuhong Lu.

show abstract

Section: Background On Image-guided Surgerymentioning

confidence: 99%

Reconfigurable Fiducial-Integrated Modular Needle Driver for MRI-Guided Percutaneous Interventions

Ji¹,

Matte²,

Li³

et al. 2013

Journal of Medical Devices

View full text Add to dashboard Cite

show abstract

“…The American Engineering Research Center and Johns Hopkins University have jointly developed a robotic system that includes ultrasound image navigation and TPS to enable free movement and attitude adjustment of the biopsy needle in a vertical plane [ 12 , 13 ]. An ultrasound imaging-guided prostate interventional robot was designed by Kim et al, in which 2-DOF is able to be manually adjusted for posture adjustment, and two degrees of freedom are used to adjust the movement and rotation of the ultrasound probe [ 14 ]. Vitrani et al of the University of Pittsburgh designed an artificially operated prostate biopsy probe holder, and its structural is similar to a 6-DOF series manipulator, which uses ultrasound transrectal puncture for good stiffness and stability [ 15 ].…”

Section: Introductionmentioning

confidence: 99%

Design and Experiment of Assistive Mechanism for Adjustment of Transrectal Ultrasound Probe

Jiang

Zuo

Zhang

et al. 2020

Applied Bionics and Biomechanics

View full text Add to dashboard Cite

Transrectal ultrasound prostate biopsy is the most commonly used method for the diagnosis of prostate cancer. During the operation, the doctor needs to manually adjust the ultrasound probe for repeated adjustments, which is difficult to ensure the efficiency, accuracy, and safety of the operation. This paper presents a passive posture adjusting mechanism of transrectal ultrasound probe. The overall mechanism has 7 degrees of freedom, consisting of a position adjustment module, a posture adjustment module, and an ultrasonic probe rotation and feed module. In order to achieve the centering function, the posture adjustment module is designed based on the double parallelogram. Centering performance is verified based on SimMechanics, and remote center point error of physical prototypes is evaluated. The maximum error of the azimuth remote center point motion and the maximum error of the remote center point motion of the ultrasonic probe are 4 mm and 3.4 mm, respectively, which are less than the anus that can withstand 6 mm. Meanwhile, the analysis of measurement error shows that the random error correlation is weak in different directions, the systematic error confidence intervals of azimuth and elevation angle are less than 2.5 mm, and the maximum relative fixed point error and the maximum relative standard error are 14.73% and 14.98%, respectively. The simulation and testing results have shown the effectiveness and reliability of the propose mechanism.

show abstract

“…Robotic-assisted prostate biopsy can reduce prostate motion and deformation errors. [12][13][14] Virtrami et al designed a manipulator for assisting endorectal prostate biopsy, possessed 6 DOFs. The manipulator has a free mode and a locked mode.…”

Section: Introductionmentioning

confidence: 99%

Design and experimental study of a novel 7-DOF manipulator for transrectal ultrasound probe

et al. 2020

View full text Add to dashboard Cite

Traditional hand-held ultrasound probe has some limitations in prostate biopsy. Improving the localization and accuracy of ultrasound probe will increase the detection rate of prostate cancer while biopsy techniques remain unchanged. This paper designs a manipulator for transrectal ultrasound probe, which assists doctors in performing prostate biopsy and improves the efficiency and accuracy of biopsy procedure. The ultrasound probe manipulator includes a position adjustment module that can lock four joints at the same time. It reduces operating time and improves the stability of the mechanism. We use the attitude adjustment module designed by double parallelogram RCM mechanism, the ultrasound probe can realize centering and prevent its radial motion. The self-weight balance design helps doctors operate ultrasound probe without weight. Using MATLAB to analyze the manipulator, the results show that the workspace of the mechanism can meet the biopsy requirements. And simulate the centering effect of the ultrasound probe when the attitude is adjusted at different feeding distances, the results show that the ultrasound probe is centering stability. Finally, the centering and joint interlocking tests of the physical prototype are completed. In this paper, a 7-DOF manipulator for transrectal ultrasound probe is designed. The mechanism is analyzed for kinematics, workspace analysis, simulation of centering effects, development of a physical prototype and related experimental research. The results show that the surgical demand workspace is located inside the reachable workspace of the mechanism and the joint locking of the manipulator is reliable.

show abstract

Robot for ultrasound-guided prostate imaging and intervention

Cited by 6 publications

References 12 publications

Reconfigurable Fiducial-Integrated Modular Needle Driver for MRI-Guided Percutaneous Interventions

Reconfigurable Fiducial-Integrated Modular Needle Driver for MRI-Guided Percutaneous Interventions

Design and Experiment of Assistive Mechanism for Adjustment of Transrectal Ultrasound Probe

Design and experimental study of a novel 7-DOF manipulator for transrectal ultrasound probe

Contact Info

Product

Resources

About