State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions

Su, Hao; Kwok, Ka‐Wai; Cleary, Kevin; Iordachita, Iulian; Çavuşoğlu, M. Cenk; Desai, Jaydev P.; Fischer, Gregory S.

doi:10.1109/jproc.2022.3169146

Cited by 51 publications

(24 citation statements)

References 205 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%

“…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%

Review of Robot-Assisted HIFU Therapy

Gunderman

Montayre

Ranjan

et al. 2023

Sensors

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“…MRI has slowly become a popular choice of imaging modality in interventional procedures mainly due to the excellent soft tissue contrast resolution, the lack of ionising radiation, and the ability for multimodality sensing such as blood flow, motion, deformation, strain, and temperature [ 63 ]. However, as previously mentioned, it has major disadvantages including cost, the limited bore space, and the constraints on compatible instruments [ 64 ].…”

Section: Robotic Non-vascular Systemsmentioning

confidence: 99%

Current State of Robotics in Interventional Radiology

Najafi

Kreiser

Abdelaziz

et al. 2023

Cardiovasc Intervent Radiol

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As a relatively new specialty with a minimally invasive nature, the field of interventional radiology is rapidly growing. Although the application of robotic systems in this field shows great promise, such as with increased precision, accuracy, and safety, as well as reduced radiation dose and potential for teleoperated procedures, the progression of these technologies has been slow. This is partly due to the complex equipment with complicated setup procedures, the disruption to theatre flow, the high costs, as well as some device limitations, such as lack of haptic feedback. To further assess these robotic technologies, more evidence of their performance and cost-effectiveness is needed before their widespread adoption within the field. In this review, we summarise the current progress of robotic systems that have been investigated for use in vascular and non-vascular interventions.

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“…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. 15 Pneumatic piston cylinders, as the most common pneumatic actuators, are extensively studied and used to construct MRI guided surgical robots.…”

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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State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions

Abstract: This article describes challenges and history of robotic systems operating in an MRI environment, and outlines promising clinical applications and associated state-of-the-art MRI-compatible robotic systems and technology.

Cited by 51 publications

References 205 publications

Review of Robot-Assisted HIFU Therapy

Review of Robot-Assisted HIFU Therapy

Current State of Robotics in Interventional Radiology

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

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