A Decade of MRI Compatible Robots: Systematic Review

Farooq, Muhammad Umar; Ko, Seong Young

doi:10.1109/tro.2022.3212626

Cited by 18 publications

(6 citation statements)

References 248 publications

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“…The design of force sensing modules for MIS should be concerned with their physical and functional properties. The former mainly relates to the shape and size of the module, while the latter constraint regards the compatibility, interaction, and performance in the bio-environment [33]. A visionbased force sensing module can be a good candidate for MIS.…”

Section: B Contributionsmentioning

confidence: 99%

Haptics-Enabled Forceps with Multi-Modal Force Sensing: Towards Task-Autonomous Robotic Surgery

Liu¹,

Zhang²,

Katupitiya³

et al. 2023

Preprint

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Current minimally invasive surgical robots are lacking in force sensing that is robust to temperature and electromagnetic variation while being compatible with micro-sized instruments. This paper presents a multi-axis force sensing module that can be integrated with micro-sized surgical instruments such as biopsy forceps. The proposed miniature sensing module mainly consists of a flexure, a camera, and a target. The deformation of the flexure is obtained by the pose variation of the top-mounted target, which is estimated by the camera with a proposed pose estimation algorithm. Then, the external force is estimated using the flexure's displacement and stiffness matrix. Integrating the sensing module, we further develop a pair of haptics-enabled forceps and realize its multi-modal force sensing, including touching, grasping, and pulling when the forceps manipulate tissues. To minimize the unexpected sliding between the forceps' clips and the tissue, we design a micro-level actuator to drive the forceps and compensate for the motion introduced by the flexure's deformation. Finally, a series of experiments are conducted to verify the feasibility of the proposed sensing module and forceps, including an automatic robotic grasping procedure on ex-vivo tissues. The results indicate the sensing module can estimate external forces accurately, and the haptics-enabled forceps can potentially realize multi-modal force sensing for task-autonomous robotic surgery. A video demonstrating the experiments can be found at https://youtu.be/4UUTT hiFcI.

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Section: B Contributionsmentioning

confidence: 99%

Haptics-Enabled Forceps with Multi-Modal Force Sensing: Towards Task-Autonomous Robotic Surgery

Liu¹,

Zhang²,

Katupitiya³

et al. 2023

Preprint

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“…The main robot body and medical tools are actually constructed of non-magnetic, non-conducting materials. Different solutions are proposed for the mechatronic part of the robot involving electronics, sensors, actuators, etc., which represent a challenging compatibility question [37][38][39][40][41]95,96,110,[112][113][114][115][116][117][118][119][120][121].…”

Section: Compatibility Compliance Checkmentioning

confidence: 99%

“…metal artifact correction, improving MR image quality in metallic implants, superconducting magnet designs and MRI accessibility, improved visualization in patients with implants, and 3D-printing techniques for optimized imaging compatibility. Numerous investigations have been carried out on MRI-compatible devices; see examples [32][33][34][35][36][37][38][39][40][41]. These concern MRI-compatible devices in cardiac MRI, compatible fiber optic multi sensor, self-supervised reconstruction of gradient descent, safe robotic manipulator, compatible robots, compatible endonasal surgical robotic system, imaging-enhanced cranial neurosurgery, plastic piezoelectric motor stator, and compatible piezoelectric motors.…”

Section: Introductionmentioning

confidence: 99%

Image-Guided Surgical and Pharmacotherapeutic Routines as Part of Diligent Medical Treatment

Razek

2023

Applied Sciences

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This contribution is part of the objective of diligent universal care that ensures the well-being of a patient. It aims to analyze and propose enriched image-guided procedures for surgical interventions and restricted delivery of implanted drugs in minimally invasive and non-ionizing circumstances. This analysis is supported by a literature review conducted in two ways. The first aims to illustrate the importance of recent research and applications involved in different topics of the subject; this is mainly the case for the introduction’s literature. The second concerns the literature dedicated to having more detailed information in context; this mainly concerns the citations in the different sections of the article. The universal goals of medical treatments are intended to involve the well-being of the patient and allow medical personnel to test new therapies and carry out therapeutic training without risk to the patient. First, the various functionalities involved in these procedures and the concerns of the magnetic resonance imaging technique (MRI) and ultrasound imaging technique (USI), recent contributions to the subject are reviewed. Second, the intervention procedures guided by the image and the implemented actions are analyzed. Third, the components of the fields involved in MRI are examined. Fourth, the MRI control of the treatments, its performance and its compliance are analyzed. Compatibility with MRI via electromagnetic compatibility (EMC) is conferred and demonstrated for an actuation example. Fifth, the extension of the concepts mentioned in the article, in the context of patient comfort and the training of medical staff is proposed. The main contribution of this article is the identification of the different strategic aids needed in healthcare related to image-assisted robotics, non-ionized, minimally invasive and locally restrictive means. Furthermore, it highlights the benefits of using phantoms based on real biological properties of the body, digital twins under human control, artificial intelligence tools and augmented reality-assisted robotics.

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“…Few types of non-electromagnetic actuators with performance suitable for MRI-assisted robotic operation can be used. This could be the case for piezoelectric actuators subject to their MRI compatibility; see, e.g., [41][42][43][44][45][46][47][48][49][50][51][52][53][54][55][56]. Such actuators are made of dielectric piezoelectric materials coated with trivial electrodes.…”

Section: Robotic External Matter Introductionsmentioning

confidence: 99%

“…As indicated in Section 2.3, the shape and orientation of these electrodes (conductors) relative to the RF field B 1 allow possible MRI compatibility. Different keys are proposed for the mechatronic division of the robot containing electronics, sensors, actuators, etc., which address a difficult compatibility question [27,29,[41][42][43][44][45][46][57][58][59][60][61].…”

Section: Robotic External Matter Introductionsmentioning

confidence: 99%

Assessment of a Functional Electromagnetic Compatibility Analysis of Near-Body Medical Devices Subject to Electromagnetic Field Perturbation

Razek

2023

Electronics

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This article aims to assess, discuss and analyze the disturbances caused by electromagnetic field (EMF) noise of medical devices used near living tissues, as well as the corresponding functional control via the electromagnetic compatibility (EMC) of these devices. These are minimally invasive and non-ionizing devices allowing various healthcare actions involving monitoring, assistance, diagnoses and image-guided medical interventions. Following an introduction of the main items of the paper, the different imaging methodologies are conferred, accounting for their nature, functioning, employment condition and patient comfort and safety. Then the magnetic resonance imaging (MRI) components and their fields, the consequential MRI-compatibility concept and possible image artifacts are detailed and analyzed. Next, the MRI-assisted robotic treatments, the possible robotic external matter introductions in the MRI scaffold, the features of MRI-compatible materials and the conformity control of such compatibility are analyzed and conferred. Afterward, the embedded, wearable and detachable medical devices, their EMF perturbation control and their necessary protection via shielding technologies are presented and analyzed. Then, the EMC control procedure, the EMF governing equations and the body numerical virtual models are conferred and reviewed. A qualitative methodology, case study and simple example illustrating the mentioned methodology are presented. The last section of the paper discusses potential details and expansions of the different notions conferred in the paper, in the perspective of monitoring the disturbances due to EMF noise of medical devices working near living tissues. This contribution highlights the possibility of the proper functioning of medical instruments working close to the patient’s body tissues and their protection by monitoring possible disturbances. Thanks to these commitments, various health recommendations have been taken into account. This concerns piezoelectric actuated robotics, assisted with MRI and the possible use of conductive materials in this imager under certain conditions. The safe use of onboard devices with EMF-insensitive or intelligently shielded materials with short exposure intervals is also of concern. Additionally, the need to monitor body temperature in case of prolonged exposure of onboard devices to EMF is analyzed in the Discussion section. Moreover, the use of virtual tissue models in EMC testing to achieve more realistic evaluation capabilities also features in the Discussion section.

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A Decade of MRI Compatible Robots: Systematic Review

Cited by 18 publications

References 248 publications

Haptics-Enabled Forceps with Multi-Modal Force Sensing: Towards Task-Autonomous Robotic Surgery

Haptics-Enabled Forceps with Multi-Modal Force Sensing: Towards Task-Autonomous Robotic Surgery

Image-Guided Surgical and Pharmacotherapeutic Routines as Part of Diligent Medical Treatment

Assessment of a Functional Electromagnetic Compatibility Analysis of Near-Body Medical Devices Subject to Electromagnetic Field Perturbation

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