An MRI-Compatible Needle Manipulator Concept Based on Elastically Averaged Dielectric Elastomer Actuators for Prostate Cancer Treatment: An Accuracy and MR-Compatibility Evaluation in Phantoms

Plante, Jean‐Sébastien; Tadakuma, Kenjiro; DeVita, Lauren M.; Kacher, Daniel F.; Roebuck, Joseph R.; DiMaio, Simon P.; Jólesz, Ferenc A.; Dubowsky, Steven

doi:10.1115/1.3191729

Cited by 15 publications

(5 citation statements)

References 33 publications

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“…Robotic biopsy can also be performed transgluteally as presented by Zangos et al reporting the results of 19 subjects. Robotic devices for transperineal approach has not been used clinically in MRI‐guided biopsies; the reports are limited to phantom or animal studies . A recent review article stated concern that the clinical usefulness of MRI‐compatible robotic devices remains to be seen in MRI‐guided biopsies of prostate.…”

mentioning

confidence: 99%

3T MR-guided in-bore transperineal prostate biopsy: A comparison of robotic and manual needle-guidance templates

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Tuncalı

Song

et al. 2014

J. Magn. Reson. Imaging

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Purpose To demonstrate the utility of a robotic needle-guidance template device as compared to a manual template for in-bore 3T transperineal MR-guided prostate biopsy. Materials and Methods This two-arm mixed retrospective-prospective study included 99 cases of targeted transperineal prostate biopsies. The biopsy needles were aimed at suspicious foci noted on multiparametric 3T MRI using manual template (historical control) as compared with a robotic template. The following data was obtained: the accuracy of average and closest needle placement to the focus, histologic yield, percentage of cancer volume in positive core samples, complication rate, and time to complete the procedure. Results 56 cases were performed using the manual template, and 43 cases were performed using the robotic template. The mean accuracy of the best needle placement attempt was higher in the robotic group (2.39 mm) than the manual group (3.71 mm, p<0.027). The mean core procedure time was shorter in the robotic (90.82min) than the manual group (100.63min, p<0.030). Percentage of cancer volume in positive core samples was higher in robotic group (p<0.001). Cancer yields and complication rates were not statistically different between the two sub-groups (p = 0.557 and p=0.172 respectively). Conclusion The robotic needle-guidance template helps accurate placement of biopsy needles in MRI-guided core biopsy of prostate cancer.

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confidence: 99%

3T MR-guided in-bore transperineal prostate biopsy: A comparison of robotic and manual needle-guidance templates

Tilak

Tuncalı

Song

et al. 2014

J. Magn. Reson. Imaging

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“…However, further studies showed that other material like CF19-2186 silicones can be used at higher frequencies, but with lower achievable strains. In the context of MRI, Vogan et al [99] used an acrylic DE to reconfigure imaging coils within the bore of a scanner which illustrates both the relatively high blocking stress of those materials (up to half the maximum stress of bulk piezoceramics [100]) and the MRI compatibility of the experimental setup with a DC voltage applied to the polymer [101].…”

Section: Electrostrictive Materialsmentioning

confidence: 99%

Actuators for MRE: New Perspectives With Flexible Electroactive Materials

et al. 2021

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Since 1995, Magnetic Resonance Elastography (MRE) has been constantly developed as a non-invasive diagnostic tool for quantitative mapping of mechanical properties of biological tissues. Indeed, mechanical properties of tissues vary over five orders of magnitude (the shear stiffness is ranging from 102 Pa for fat to 107 Pa for bones). Additionally, these properties depend on the physiological state which explains the granted benefit of MRE for staging liver fibrosis and its potential in numerous medical and biological domains. In comparison to the other modalities used to perform such measurement, Magnetic Resonance (MR) techniques offer the advantages of acquiring 3D high spatial resolution images at high penetration depth. However, performing MRE tissue characterization requires low frequency shear waves propagating in the tissue. Inducing them is the role of a mechanical actuator specifically designed to operate under Magnetic Resonance Imaging (MRI) specific restrictions in terms of electromagnetic compatibility. Facing these restrictions, many different solutions have been proposed while keeping a common structure: a vibration generator, a coupling device transmitting the vibration and a piston responsible for the mechanical coupling of the actuator with the tissue. The following review details the MRI constraints and how they are shaping the existing actuators. An emphasis is put on piezoelectric solutions as they solve the main issues encountered with other actuator technologies. Finally, flexible electroactive materials are reviewed as they could open great perspectives to build new type of mechanical actuators with better adaptability, greater ease-of-use and more compactness of dedicated actuators for MRE of small soft samples and superficial organs such as skin, muscles or breast.

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“…DEAs were proposed as a simple and low cost alternative for MRI-compatible actuators as their all-polymer construction gives them an excellent MRI-compatibility [10]. However, DEA have limited force density due to present manufacturing and reliability limitations and, when used as main actuators, cannot support clinical needle insertion forces requirements [11].…”

Section: Mri-compatible Needle Manipulators Backgroundmentioning

confidence: 99%

Design of a MRI-compatible dielectric elastomer powered jet valve

et al. 2011

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Binary Pneumatic Air Muscles (PAM) arranged in an elastically-averaged configuration can form a cost effective solution for Magnetic Resonance Imaging (MRI) guided robotic interventions like prostate cancer biopsies and brachytherapies. Such binary pneumatic manipulators require about 10 to 20 MRI-compatible valves to control the pressure state of each PAM. In this perspective, this paper presents the design of a novel dielectric elastomer actuator (DEA) driven jet-valve to control the states of the PAMs. DEAs are MRI compatible actuators that are well suited to the simplicity and cost-effectiveness of the binary manipulation approach. The key feature of the proposed valve design is its 2 stages configuration in which the pilot stage is moved with minimal mechanical friction by a rotary antagonistic DEA made with acrylic polymer films. The prismatic geometry also integrates the jet nozzle within the DEA volume to provide a compact embodiment with a reduced number of parts. The low actuation stretches enabled by the rotary configuration minimize viscoelastic losses, and thus, maximize the frequency response of the actuator while maximizing its reliability potential. The design space of the proposed jet valve is studied using an Ogden hyperelastic model and the valve dynamics is predicted with a 1D Bergstrom-Boyce viscoelastic model. Altogether, the low friction of the pilot stage and optimized DEA dynamics provide an experimental shifting time of the complete assembly in the 200-300ms range. Results from this work suggest that the DEA driven jet valve has great potential for switching a large number of pneumatic circuits in a MRI environment with a compact, low cost and simple embodiment.

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An MRI-Compatible Needle Manipulator Concept Based on Elastically Averaged Dielectric Elastomer Actuators for Prostate Cancer Treatment: An Accuracy and MR-Compatibility Evaluation in Phantoms

Cited by 15 publications

References 33 publications

3T MR-guided in-bore transperineal prostate biopsy: A comparison of robotic and manual needle-guidance templates

3T MR-guided in-bore transperineal prostate biopsy: A comparison of robotic and manual needle-guidance templates

Actuators for MRE: New Perspectives With Flexible Electroactive Materials

Design of a MRI-compatible dielectric elastomer powered jet valve

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