Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches

被引：72
作者：
Song, Sang-Eun [1 ]
Cho, Nathan B. [1 ]
Fischer, Gregory [2 ]
Hata, Nobuhito [3 ]
Tempany, Clare [3 ]
Fichtinger, Gabor [4 ]
Iordachita, Iulian [1 ]
机构：
[1] Johns Hopkins Univ, Natl Sci Fdn, Engn Res Ctr Comp Integrated Surg Syst & Technol, Baltimore, MD 21218 USA
[2] Worcester Polytech Inst, Worcester, MA USA
[3] Brigham & Womens Hosp, Harbor Med Sch, Boston, MA USA
[4] Queens Univ, Kingston, ON, Canada
来源：
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年
关键词：
1.5; T; SYSTEM; CANCER; DESIGN;
D O I：
10.1109/ROBOT.2010.5509710
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained.
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收藏
页码：2580 / 2585
页数：6
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