Design and analysis of a tendon-based MRI-compatible surgery robot for transperineal prostate needle placement

Jiang, Shan; Sun, Fude; Dai, Jian S.; Li, Jun; Yang, Zhiyong

doi:10.1177/0954406214533783

Cited by 3 publications

(3 citation statements)

References 21 publications

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“…This MRI-conditional robot desire patient to in an SU position with automatic insertion via TP. Jiang et al [114] presented another virtual prototype of an MR-Safe tendon-based 5 DOF robot +1 DOF needle insertion module for intra-operative BX and BT. Patient to be in an SU position for automatic needle insertion under 0.5 to 3 T MRI scanner.…”

Section: E Mri Based Robotic Developments For Prostate Interventionsmentioning

confidence: 99%

Review of Clinical and Technological Consideration for MRI-Guided Robotic Prostate Brachytherapy

Dhaliwal

Chettibi

Wilby

et al. 2021

IEEE Trans. Med. Robot. Bionics

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Low Dose Rate Brachytherapy (LDR-BT) is a technique for treating localized prostate cancer by implanting radioactive seeds. In conventional practice, the delivery of seeds is performed using transrectal ultrasonography (TRUS) imaging for implant guidance and checked using computed-tomography for post-implant dosimetry. In the case of TRUS, accuracy can be compromised due to sub-optimal imaging. Magnetic Resonance Imaging (MRI), however, is known to provide better soft-tissue contrast, therefore, increasing the ability to detect small lesions; for that reason, the integration of intraoperative MRI in BT workflows has been investigated over the last two decades. The fusion of preoperative MR-images during TRUS-brachytherapy is possible. However, the image registration process introduces a source of uncertainty. Manual, real-time intra-operative LDR-BT is challenging under MRI due to confined space and procedural workflows. This motivates the development of MRI-compatible robots for prostate BT, with potential advantages of improved source placement accuracy and final dosimetry. In this paper, the state-of-art of technological components in MRI compatible robots, especially for LDR-BT, has been presented. This systematic review helps us to position an ongoing Cooperative Brachytherapy project, developing a real-time MRI-guided robot for adaptive LDR-BT. The design approach includes integrating separate modules: imaging, dose planning, needles, and robot.

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Section: E Mri Based Robotic Developments For Prostate Interventionsmentioning

confidence: 99%

Review of Clinical and Technological Consideration for MRI-Guided Robotic Prostate Brachytherapy

Dhaliwal

Chettibi

Wilby

et al. 2021

IEEE Trans. Med. Robot. Bionics

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“…expðĵuÞ can be Taylor expanded as Referring to equations (19) and (20), it can be rewritten as 0 T n + 1 ðI + eÞðI + dÞ =…”

Section: Error Modelmentioning

confidence: 99%

“…Pneumatic and flexible shaft are too large in structure to be applied in the narrow space. To avoid complex structure and kinematics, 19,20 tendon–sheath method 15,21 is applied in the orientation module. The schematic of tendon–sheath is shown in Figure 5.…”

Section: Robot Descriptionmentioning

confidence: 99%

Design and analysis of a tendon-based computed tomography–compatible robot with remote center of motion for lung biopsy

Yang

Jiang

Yang

et al. 2017

Proc Inst Mech Eng H

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Nowadays, biopsy is a decisive method of lung cancer diagnosis, whereas lung biopsy is time-consuming, complex and inaccurate. So a computed tomography-compatible robot for rapid and precise lung biopsy is developed in this article. According to the actual operation process, the robot is divided into two modules: 4-degree-of-freedom position module for location of puncture point is appropriate for patient's almost all positions and 3-degree-of-freedom tendon-based orientation module with remote center of motion is compact and computed tomography-compatible to orientate and insert needle automatically inside computed tomography bore. The workspace of the robot surrounds patient's thorax, and the needle tip forms a cone under patient's skin. A new error model of the robot based on screw theory is proposed in view of structure error and actuation error, which are regarded as screw motions. Simulation is carried out to verify the precision of the error model contrasted with compensation via inverse kinematics. The results of insertion experiment on specific phantom prove the feasibility of the robot with mean error of 1.373 mm in laboratory environment, which is accurate enough to replace manual operation.

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Review of Robotic Needle Guide Systems for Percutaneous Intervention

et al. 2019

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Design and analysis of a tendon-based MRI-compatible surgery robot for transperineal prostate needle placement

Cited by 3 publications

References 21 publications

Review of Clinical and Technological Consideration for MRI-Guided Robotic Prostate Brachytherapy

Review of Clinical and Technological Consideration for MRI-Guided Robotic Prostate Brachytherapy

Design and analysis of a tendon-based computed tomography–compatible robot with remote center of motion for lung biopsy

Review of Robotic Needle Guide Systems for Percutaneous Intervention

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