μRIGS – Ultra-light Micropositioning Robotics for Universal MRI Guided Interventions

Fomin, Ivan; Odenbach, Robert; Pannicke, Enrico; Hensen, Bennet; Wacker, Frank; Rose, Georg

doi:10.1515/cdbme-2021-1018

Cited by 3 publications

(1 citation statement)

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“…As shown in Figure 2F, the joint brake mechanism is comprised of a pair of friction rings, which were configured as two anti-clockwise and clockwise arranged stacked layers, surrounding the installed joint for bidirectional braking effect. To keep the robot compact, small (103 mm × 40 mm) and lightweight (<100 g) tendondriven braking actuation units (Figure 2G) are incorporated to drive the brakes via Bowden cable connection, [28,29] which keep the actuation units ≈200 mm away from the main robot positioner and head coil (Figure 2A). Rolling-diaphragm-sealed hydraulic actuation is introduced to provide a sufficient braking force, even though transmitted through 10-m long hydraulic pipelines from the control room.…”

Section: Interactive Five-bar Mechanismmentioning

confidence: 99%

Interactive Multi‐Stage Robotic Positioner for Intra‐Operative MRI‐Guided Stereotactic Neurosurgery

He,

Dai,

et al. 2023

Advanced Science

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Magnetic resonance imaging (MRI) demonstrates clear advantages over other imaging modalities in neurosurgery with its ability to delineate critical neurovascular structures and cancerous tissue in high‐resolution 3D anatomical roadmaps. However, its application has been limited to interventions performed based on static pre/post‐operative imaging, where errors accrue from stereotactic frame setup, image registration, and brain shift. To leverage the powerful intra‐operative functions of MRI, e.g., instrument tracking, monitoring of physiological changes and tissue temperature in MRI‐guided bilateral stereotactic neurosurgery, a multi‐stage robotic positioner is proposed. The system positions cannula/needle instruments using a lightweight (203 g) and compact (Ø97 × 81 mm) skull‐mounted structure that fits within most standard imaging head coils. With optimized design in soft robotics, the system operates in two stages: i) manual coarse adjustment performed interactively by the surgeon (workspace of ±30°), ii) automatic fine adjustment with precise (<0.2° orientation error), responsive (1.4 Hz bandwidth), and high‐resolution (0.058°) soft robotic positioning. Orientation locking provides sufficient transmission stiffness (4.07 N/mm) for instrument advancement. The system's clinical workflow and accuracy is validated with lab‐based (<0.8 mm) and MRI‐based testing on skull phantoms (<1.7 mm) and a cadaver subject (<2.2 mm). Custom‐made wireless omni‐directional tracking markers facilitated robot registration under MRI.

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Section: Interactive Five-bar Mechanismmentioning

confidence: 99%

Interactive Multi‐Stage Robotic Positioner for Intra‐Operative MRI‐Guided Stereotactic Neurosurgery

He,

Dai,

et al. 2023

Advanced Science

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MRI-compatible and sensorless haptic feedback for cable-driven medical robotics to perform teleoperated needle-based interventions

Vogt,

Eisenmann,

Schlünz

et al. 2024

Int J CARS

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Purpose Surgical robotics have demonstrated their significance in assisting physicians during minimally invasive surgery. Especially, the integration of haptic and tactile feedback technologies can enhance the surgeon’s performance and overall patient outcomes. However, the current state-of-the-art lacks such interaction feedback opportunities, especially in robotic-assisted interventional magnetic resonance imaging (iMRI), which is gaining importance in clinical practice, specifically for percutaneous needle punctures. Methods The cable-driven ‘Micropositioning Robotics for Image-Guided Surgery’ (µRIGS) system utilized the back-electromotive force effect of the stepper motor load to measure cable tensile forces without external sensors, employing the TMC5160 motor driver. The aim was to generate a sensorless haptic feedback (SHF) for remote needle advancement, incorporating collision detection and homing capabilities for internal automation processes. Three different phantoms capable of mimicking soft tissue were used to evaluate the difference in force feedback between manual needle puncture and the SHF, both technically and in terms of user experience. Results The SHF achieved a sampling rate of 800 Hz and a mean force resolution of 0.26 ± 0.22 N, primarily dependent on motor current and rotation speed, with a mean maximum force of 15 N. In most cases, the SHF data aligned with the intended phantom-related force progression. The evaluation of the user study demonstrated no significant differences between the SHF technology and manual puncturing. Conclusion The presented SHF of the µRIGS system introduced a novel MR-compatible technique to bridge the gap between medical robotics and interaction during real-time needle-based interventions.

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A Decade of MRI Compatible Robots: Systematic Review

Farooq

2023

IEEE Trans. Robot.

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μRIGS – Ultra-light Micropositioning Robotics for Universal MRI Guided Interventions

Cited by 3 publications

References 0 publications

Interactive Multi‐Stage Robotic Positioner for Intra‐Operative MRI‐Guided Stereotactic Neurosurgery

Interactive Multi‐Stage Robotic Positioner for Intra‐Operative MRI‐Guided Stereotactic Neurosurgery

MRI-compatible and sensorless haptic feedback for cable-driven medical robotics to perform teleoperated needle-based interventions

A Decade of MRI Compatible Robots: Systematic Review

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