Challenges in developing a magnetic resonance–compatible haptic hand-controller for neurosurgical training

Abstract

A haptic device is an actuated human-machine interface utilized by an operator to dynamically interact with a remote environment. This interaction could be virtual (virtual reality) or physical such as using a robotic arm. To date, different mechanisms have been considered to actuate the haptic device to reflect force feedback from the remote environment. In a low-force environment or limited working envelope, the control of some actuation mechanisms such as hydraulic and pneumatic may be problematic. In the development of a haptic device, challenges include limited space, high accuracy or resolution, limitations in kinematic and dynamic solutions, points of singularity, dexterity as well as control system development/design. Furthermore, the haptic interface designed to operate in a magnetic resonance imaging environment adds additional challenges related to electromagnetic interference, static/variable magnetic fields, and the use of magnetic resonance-compatible materials. Such a device would allow functional magnetic resonance imaging to obtain information on the subject's brain activity while performing a task. When used for surgical trainees, functional magnetic resonance imaging could provide an assessment of surgical skills. In this application, the trainee, located supine within the magnet bore while observing the task environment on a graphical user interface, uses a low-force magnetic resonance-compatible haptic device to perform virtual surgical tasks in a limited space. In the quest to develop such a device, this review reports the multiple challenges faced and their potential solutions. The review also investigates efforts toward prototyping such devices and classifies the main components of a magnetic resonance-compatible device including actuation and sensory systems and materials used.

Virtual Reality in the Neurosciences: Current Practice and Future Directions

“…Risks of using VR (166)(167)(168)(169)(170) Prospective view of VR (171) procedures require intraoperative imaging, such as MRI or CT; however, the standard virtual reality devices controllers and HMDs are not compatible with MRI and implementation in such settings would require this development (165). As previously mentioned, intractable epilepsy is a common indication for neurosurgical care; however, the possibility of photosensitive seizures induced by VR devices has been discussed in the literature.…”

An Application-Based Review of Haptics Technology

“…In robotics surgery, there are many research studies focused on implementation of haptic feedback in tele-surgical robotic systems [35] and showed its potential and benefits [81]. Challenges in medical applications include safety of the system in terms of stability, quality of the force feedback and transparency, regulatory approvals, economical considerations, and challenges related to the environment in which the haptic device is going to be used, such as MRI compatibility [82]. Haptic devices used in surgical environments provided insufficient realism and future doctors were not well trained for complex surgeries.…”

Review on the Vibration Suppression of Cantilever Beam through Piezoelectric Materials

“…This present article focuses on using piezoelectric materials, especially PZT, to suppress the vibration of cantilever beam structure. There are many applications for piezoelectric materials used on other mechanical structures, such as composite laminates, [ 4 ] civil structures, [ 5 ] piezoelectric pumps, [ 6 ] robotic systems, [ 7 ] and so on. In addition, there are many mechanical structures that can't be simplified as the cantilever beam structure uses piezoelectric materials to achieve vibration suppression.…”