Teleoperation system with hybrid pneumatic-piezoelectric actuation for MRI-guided needle insertion with haptic feedback

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

doi:10.1109/iros.2013.6696942

Cited by 27 publications

(12 citation statements)

References 36 publications

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“…However, the costly optical source, FBG fibers and spectral analysis equipment present challenges for vast adoption of this technology. FPI fiber optic sensor provides an amiable solution for high-resolution force sensing that only relies on simple interference pattern based voltage measurement [17]. Premium FPI sensors (i.e.…”

Section: Discussion and Future Perspectivesmentioning

confidence: 99%

“…Su et al [17], [46] designed an FPI fiber optic strain sensor utilizing a commercially available FPI strain gauge (FOS-N-BA-C1-F1-M2-R1-ST, FISO Technologies, Canada) for MRI-guided needle placement. As shown in Fig.…”

Section: Fiber Optic Force Sensing Principlesmentioning

confidence: 99%

“…FPI sensor by Su et al [17] is voltage measurement based and is relatively low cost. But premium FPI sensors (i.e.…”

Section: Fiber Optic Force Sensing Principlesmentioning

confidence: 99%

“…Fiber optic cables passed through the MRI patch panel for communication between the sensor and signal conditioning instrumentations that include amplifier and data acquisition card. Alternatively, signal conditioning circuitry can also be placed inside the MRI room with appropriate shielding and electromechanical design of the sensor and signal conditioning circuitry as in Su et al [17]. …”

Section: Introductionmentioning

confidence: 99%

“…A resistive strain gauge is one option for out of bore applications inside the MRI room and Su et al designed a strain gauge based pneumatic haptic device [17]. Thus fiber optic sensors are better options for inside bore or close to bore applications.…”

Section: Introductionmentioning

confidence: 99%

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Fiber-Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review

Iordachita

Tokuda

et al. 2017

IEEE Sensors J.

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Magnetic Resonance Imaging (MRI) provides both anatomical imaging with excellent soft tissue contrast and functional MRI imaging (fMRI) of physiological parameters. The last two decades have witnessed the manifestation of increased interest in MRI-guided minimally invasive intervention procedures and fMRI for rehabilitation and neuroscience research. Accompanying the aspiration to utilize MRI to provide imaging feedback during interventions and brain activity for neuroscience study, there is an accumulated effort to utilize force sensors compatible with the MRI environment to meet the growing demand of these procedures, with the goal of enhanced interventional safety and accuracy, improved efficacy and rehabilitation outcome. This paper summarizes the fundamental principles, the state of the art development and challenges of fiber optic force sensors for MRI-guided interventions and rehabilitation. It provides an overview of MRI-compatible fiber optic force sensors based on different sensing principles, including light intensity modulation, wavelength modulation, and phase modulation. Extensive design prototypes are reviewed to illustrate the detailed implementation of these principles. Advantages and disadvantages of the sensor designs are compared and analyzed. A perspective on the future development of fiber optic sensors is also presented which may have additional broad clinical applications. Future surgical interventions or rehabilitation will rely on intelligent force sensors to provide situational awareness to augment or complement human perception in these procedures.

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Section: Discussion and Future Perspectivesmentioning

confidence: 99%

Section: Fiber Optic Force Sensing Principlesmentioning

confidence: 99%

“…FPI sensor by Su et al [17] is voltage measurement based and is relatively low cost. But premium FPI sensors (i.e.…”

Section: Fiber Optic Force Sensing Principlesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Fiber-Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review

Iordachita

Tokuda

et al. 2017

IEEE Sensors J.

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Radio Frequency Sensing‐Based In Situ Temperature Measurements during Magnetic Resonance Imaging Interventional Procedures

Bilgin

Tiryaki

Lazović

et al. 2022

Adv Materials Technologies

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attention in the medical robotics as a potential alternative to traditional 2D fluoroscopic imaging methods with the MRI's ionizing-radiation-free nature and 3D high-resolution soft tissue imaging capabilities. [1][2][3][4][5][6] By developing different MRI-based medical robot or device designs, such as MRI-compatible guide wires, [7,8] soft pneumatic actuators, [9,10] piezo actuators, [11,12] focused ultrasound (FUS) systems, [5,13,14] active catheters, [15,16] needle insertion systems, [4,17,18] and magnetic microrobots [19][20][21][22][23][24][25] and millirobots, [26][27][28][29] researchers have demonstrated promising interventional procedures, such as laser ablation, [30][31][32][33][34] local hyperthermia, [14,35,36] and FUS ablation. [13,34,37] The usage of MRI is mainly limited to the position tracking and the steering control of such medical robots or devices with fiducial markers based on radiofrequency (RF) markers, [3,[38][39][40][41][42] magnetic markers, [43][44][45] and contrast agents. [46][47][48] One of the key challenges during many interventional MRI procedures is the risks associated with overheating, which threatens the safety of the patients. Numerous reports have been published concerning the heating of metallic components during the MR imaging; [49][50][51][52][53][54][55][56][57][58][59][60][61][62][63][64][65] therefore, a continuous in situ temperature monitoring is required for safe interventional MRI applications. MRI thermometry has been developed as an in situ temperature monitoring method. [66][67][68][69] Researchers have used MRI thermometry-based temperature feedback to control FUS hyperthermia operations [35,36,70] or to evaluate MRI-guided laser ablation therapies [6,31,71] and MRIguided active catheters. [72,73] While MRI thermometry methods can provide accurate in situ temperature mapping in 3D, they decrease the overall MRI-based visual feedback rate by adding an extra sequence, hindering the real-time MRI feedback. In a different approach, some researchers have proposed RFbased telemetric devices for measuring the in situ temperature remotely. [74][75][76][77][78] However, such methods have included sophisticated circuitries and metallic components that may distort MR images. [79][80][81] Therefore, a safe method for in situ temperature monitoring without decreasing the MRI feedback rate is highly desirable inside the interventional MR scanners.Previously, various RF marker designs have been reported; however, their main focus has been on device 3D tracking inside MRI. [3,[38][39][40][41][42] Recent studies explored new designs for ensuring functionality independent of the marker orientation. [82][83][84] Beyond tracking, a recent study used an RF marker design Magnetic resonance imaging (MRI)-tuned radio-frequency (RF) sensors are used as a radiation-free alternative for tracking minimally invasive medical tool positions. However, in situ temperature sensing capabilities of the MRI-tuned RF sensors have not been thoroughly investigated yet. A self-resonating RF sensor c...

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Towards human‐controlled, real‐time shape sensing based flexible needle steering for MRI‐guided percutaneous therapies

Gonenc

et al. 2016

Robotics Computer Surgery

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Teleoperation system with hybrid pneumatic-piezoelectric actuation for MRI-guided needle insertion with haptic feedback

Cited by 27 publications

References 36 publications

Fiber-Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review

Fiber-Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review

Radio Frequency Sensing‐Based In Situ Temperature Measurements during Magnetic Resonance Imaging Interventional Procedures

Towards human‐controlled, real‐time shape sensing based flexible needle steering for MRI‐guided percutaneous therapies

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