Towards Design and Fabrication of a Miniature MRI-Compatible Robot for Applications in Neurosurgery

Pappafotis, Nicholas; Bejgerowski, Wojciech; Gullapalli, Rao P.; Simard, J. Marc; Gupta, Satyandra K.; Desai, Jaydev P.

doi:10.1115/detc2008-49587

Cited by 16 publications

(14 citation statements)

References 25 publications

(26 reference statements)

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“…We then used Tanaka's model in (3) and NewtonRaphson's method in (8) to find out the generated stress distribution of the SMA wire. Finally, we used the concept of finite difference to derive the generated moment given by (11) and thus the generated force at the tip of each link is obtained. Fig.…”

Section: B Numerical Resolutionmentioning

confidence: 99%

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Towards a MR image-guided SMA-actuated neurosurgical robot

Koltz

Simard

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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We present our work towards the development of a MR image-guided SMA-actuated neurosurgical robot. We used two antagonistic SMA wires as actuators for each joint in the robot, so that each joint can be actuated independently. We also modeled and tested the force behaviour of SMA wires in the bent configuration, which can be used as a guideline for SMA actuator selection. Due to the size scale of the robot, it is impossible to have individual position sensors at each joint and hence we rely primarily on vision feedback to control the joint motion of the robot. The images used to control the robot in this paper were obtained from a camera with the goal of eventually using MR images to control the end-effector motion. We then developed a control strategy and a switching circuit to control multiple links simultaneously and independently using only one power supply. Experimental results from our current prototype of a 3-DOF robot showed that we can actuate the robot and hence observe joint motion in a gelatin slab. We also did a series of experiments inside the MRI to show that the robot is fully MRI-compatible and creates no significant image distortion in the MR images.

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Section: B Numerical Resolutionmentioning

confidence: 99%

“…In our previous work [11], we have developed a preliminary prototype of a Minimally Invasive Neurosurgical Intracranial Robot (MINIR) using SMA wires as actuators.…”

Section: Introductionmentioning

confidence: 99%

Towards a MR image-guided SMA-actuated neurosurgical robot

Koltz

Simard

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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“…There is still 33.26mm 2 (66%) left for other wires and tubes to go through. Since brass has been proven to be MRI-compatible and creates no significant distortion on MR images [11], we chose brass to fabricate this prototype (see Fig. 3).…”

Section: Robot Designmentioning

confidence: 99%

“…This phenomenon provides a good mechanism for actuation. In neurosurgical application, since electrocauterization of the tumor (through the electrocautery probes located on the robot end-effector [11]) will enable removal of tissue, it may not be necessary for the robot to exert a large force to move the tissue. However, it is advantageous to be able to generate the required force at the end-effector through SMA actuation of the distal links to move the tumor, if necessary, during electrocautery.…”

Section: Introductionmentioning

confidence: 99%

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Toward a Meso-Scale SMA-Actuated MRI-Compatible Neurosurgical Robot

McMillan

Simard

et al. 2012

IEEE Trans. Robot.

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Brain tumors are the most feared complications of cancer. Their treatment is challenging due to the lack of good imaging modality and the inability to remove the complete tumor. Facilitating tumor removal by accessing regions outside the “line-of-sight” will require a highly dexterous and MRI compatible robot. We present our work towards the development of a MRI-compatible neurosurgical robot. We used two antagonistic shape memory alloy (SMA) wires as actuators for each joint. Due to the size limitation of the device, we rely on temperature feedback to control the joint motion of the robot. We have developed a theoretical model based on Tanaka’s model to characterize the joint motion with the change in SMA wire temperature. The results demonstrated that the SMA wire temperature can be used reliably to predict the motion of the robot. We then used a PWM scheme and switching circuit to control the temperature of multiple SMA wires. Experimental results showed that we can actuate the robot reliably and observe joint motion in a gelatin medium. MR images also showed that the robot is fully MRI-compatible and creates no significant image distortion.

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