HapticV1, Main, Exploration, bibRecord, 004307

A haptic unit designed for magnetic-resonance-guided biopsy.

Identifieur interne : 004307 ( Main/Exploration ); précédent : 004306; suivant : 004308

A haptic unit designed for magnetic-resonance-guided biopsy.

Auteurs : Z T H. Tse [Royaume-Uni] ; H. Elhawary ; M. Rea ; I. Young ; B L Davis ; M. Lamperth

Source :

Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine [ 0954-4119 ] ; 2009.

RBID : pubmed:19278193

English descriptors

KwdEn :
- Biopsy, Needle (instrumentation), Biopsy, Needle (methods), Equipment Design, Equipment Failure Analysis, Magnetic Resonance Imaging (instrumentation), Magnetic Resonance Imaging (methods), Robotics (instrumentation), Robotics (methods), Surgery, Computer-Assisted (instrumentation), Surgery, Computer-Assisted (methods), Touch, Transducers.
MESH :
- instrumentation : Biopsy, Needle, Magnetic Resonance Imaging, Robotics, Surgery, Computer-Assisted.
- methods : Biopsy, Needle, Magnetic Resonance Imaging, Robotics, Surgery, Computer-Assisted.
- Equipment Design, Equipment Failure Analysis, Touch, Transducers.

Abstract

The magnetic fields present in the magnetic resonance (MR) environment impose severe constraints on any mechatronic device present in its midst, requiring alternative actuators, sensors, and materials to those conventionally used in traditional system engineering. In addition the spatial constraints of closed-bore scanners require a physical separation between the radiologist and the imaged region of the patient. This configuration produces a loss of the sense of touch from the target anatomy for the clinician, which often provides useful information. To recover the force feedback from the tissue, an MR-compatible haptic unit, designed to be integrated with a five-degrees-of-freedom mechatronic system for MR-guided prostate biopsy, has been developed which incorporates position control and force feedback to the operator. The haptic unit is designed to be located inside the scanner isocentre with the master console in the control room. MR compatibility of the device has been demonstrated, showing a negligible degradation of the signal-to-noise ratio and virtually no geometric distortion. By combining information from the position encoder and force sensor, tissue stiffness measurement along the needle trajectory is demonstrated in a lamb liver to aid diagnosis of suspected cancerous tissue.

PubMed: 19278193

Affiliations:

Le document en format XML

<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A haptic unit designed for magnetic-resonance-guided biopsy.</title>
<author><name sortKey="Tse, Z T H" sort="Tse, Z T H" uniqKey="Tse Z" first="Z T H" last="Tse">Z T H. Tse</name>
<affiliation wicri:level="3"><nlm:affiliation>Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, UK.</nlm:affiliation>
<country xml:lang="fr">Royaume-Uni</country>
<wicri:regionArea>Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London</wicri:regionArea>
<placeName><settlement type="city">Londres</settlement>
<region type="country">Angleterre</region>
<region type="région" nuts="1">Grand Londres</region>
</placeName>
</affiliation>
</author>
<author><name sortKey="Elhawary, H" sort="Elhawary, H" uniqKey="Elhawary H" first="H" last="Elhawary">H. Elhawary</name>
</author>
<author><name sortKey="Rea, M" sort="Rea, M" uniqKey="Rea M" first="M" last="Rea">M. Rea</name>
</author>
<author><name sortKey="Young, I" sort="Young, I" uniqKey="Young I" first="I" last="Young">I. Young</name>
</author>
<author><name sortKey="Davis, B L" sort="Davis, B L" uniqKey="Davis B" first="B L" last="Davis">B L Davis</name>
</author>
<author><name sortKey="Lamperth, M" sort="Lamperth, M" uniqKey="Lamperth M" first="M" last="Lamperth">M. Lamperth</name>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PubMed</idno>
<date when="2009">2009</date>
<idno type="RBID">pubmed:19278193</idno>
<idno type="pmid">19278193</idno>
<idno type="wicri:Area/PubMed/Corpus">001320</idno>
<idno type="wicri:Area/PubMed/Curation">001320</idno>
<idno type="wicri:Area/PubMed/Checkpoint">001173</idno>
<idno type="wicri:Area/Ncbi/Merge">001070</idno>
<idno type="wicri:Area/Ncbi/Curation">001070</idno>
<idno type="wicri:Area/Ncbi/Checkpoint">001070</idno>
<idno type="wicri:doubleKey">0954-4119:2009:Tse Z:a:haptic:unit</idno>
<idno type="wicri:Area/Main/Merge">004389</idno>
<idno type="wicri:Area/Main/Curation">004307</idno>
<idno type="wicri:Area/Main/Exploration">004307</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">A haptic unit designed for magnetic-resonance-guided biopsy.</title>
<author><name sortKey="Tse, Z T H" sort="Tse, Z T H" uniqKey="Tse Z" first="Z T H" last="Tse">Z T H. Tse</name>
<affiliation wicri:level="3"><nlm:affiliation>Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London, UK.</nlm:affiliation>
<country xml:lang="fr">Royaume-Uni</country>
<wicri:regionArea>Mechatronics in Medicine Laboratory, Department of Mechanical Engineering, Imperial College London, London</wicri:regionArea>
<placeName><settlement type="city">Londres</settlement>
<region type="country">Angleterre</region>
<region type="région" nuts="1">Grand Londres</region>
</placeName>
</affiliation>
</author>
<author><name sortKey="Elhawary, H" sort="Elhawary, H" uniqKey="Elhawary H" first="H" last="Elhawary">H. Elhawary</name>
</author>
<author><name sortKey="Rea, M" sort="Rea, M" uniqKey="Rea M" first="M" last="Rea">M. Rea</name>
</author>
<author><name sortKey="Young, I" sort="Young, I" uniqKey="Young I" first="I" last="Young">I. Young</name>
</author>
<author><name sortKey="Davis, B L" sort="Davis, B L" uniqKey="Davis B" first="B L" last="Davis">B L Davis</name>
</author>
<author><name sortKey="Lamperth, M" sort="Lamperth, M" uniqKey="Lamperth M" first="M" last="Lamperth">M. Lamperth</name>
</author>
</analytic>
<series><title level="j">Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine</title>
<idno type="ISSN">0954-4119</idno>
<imprint><date when="2009" type="published">2009</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Biopsy, Needle (instrumentation)</term>
<term>Biopsy, Needle (methods)</term>
<term>Equipment Design</term>
<term>Equipment Failure Analysis</term>
<term>Magnetic Resonance Imaging (instrumentation)</term>
<term>Magnetic Resonance Imaging (methods)</term>
<term>Robotics (instrumentation)</term>
<term>Robotics (methods)</term>
<term>Surgery, Computer-Assisted (instrumentation)</term>
<term>Surgery, Computer-Assisted (methods)</term>
<term>Touch</term>
<term>Transducers</term>
</keywords>
<keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Biopsy, Needle</term>
<term>Magnetic Resonance Imaging</term>
<term>Robotics</term>
<term>Surgery, Computer-Assisted</term>
</keywords>
<keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Biopsy, Needle</term>
<term>Magnetic Resonance Imaging</term>
<term>Robotics</term>
<term>Surgery, Computer-Assisted</term>
</keywords>
<keywords scheme="MESH" xml:lang="en"><term>Equipment Design</term>
<term>Equipment Failure Analysis</term>
<term>Touch</term>
<term>Transducers</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">The magnetic fields present in the magnetic resonance (MR) environment impose severe constraints on any mechatronic device present in its midst, requiring alternative actuators, sensors, and materials to those conventionally used in traditional system engineering. In addition the spatial constraints of closed-bore scanners require a physical separation between the radiologist and the imaged region of the patient. This configuration produces a loss of the sense of touch from the target anatomy for the clinician, which often provides useful information. To recover the force feedback from the tissue, an MR-compatible haptic unit, designed to be integrated with a five-degrees-of-freedom mechatronic system for MR-guided prostate biopsy, has been developed which incorporates position control and force feedback to the operator. The haptic unit is designed to be located inside the scanner isocentre with the master console in the control room. MR compatibility of the device has been demonstrated, showing a negligible degradation of the signal-to-noise ratio and virtually no geometric distortion. By combining information from the position encoder and force sensor, tissue stiffness measurement along the needle trajectory is demonstrated in a lamb liver to aid diagnosis of suspected cancerous tissue.</div>
</front>
</TEI>
<affiliations><list><country><li>Royaume-Uni</li>
</country>
<region><li>Angleterre</li>
<li>Grand Londres</li>
</region>
<settlement><li>Londres</li>
</settlement>
</list>
<tree><noCountry><name sortKey="Davis, B L" sort="Davis, B L" uniqKey="Davis B" first="B L" last="Davis">B L Davis</name>
<name sortKey="Elhawary, H" sort="Elhawary, H" uniqKey="Elhawary H" first="H" last="Elhawary">H. Elhawary</name>
<name sortKey="Lamperth, M" sort="Lamperth, M" uniqKey="Lamperth M" first="M" last="Lamperth">M. Lamperth</name>
<name sortKey="Rea, M" sort="Rea, M" uniqKey="Rea M" first="M" last="Rea">M. Rea</name>
<name sortKey="Young, I" sort="Young, I" uniqKey="Young I" first="I" last="Young">I. Young</name>
</noCountry>
<country name="Royaume-Uni"><region name="Angleterre"><name sortKey="Tse, Z T H" sort="Tse, Z T H" uniqKey="Tse Z" first="Z T H" last="Tse">Z T H. Tse</name>
</region>
</country>
</tree>
</affiliations>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration

HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 004307 | SxmlIndent | more

HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 004307 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Ticri/CIDE
   |area=    HapticV1
   |flux=    Main
   |étape=   Exploration
   |type=    RBID
   |clé=     pubmed:19278193
   |texte=   A haptic unit designed for magnetic-resonance-guided biopsy.
}}

Pour générer des pages wiki

HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Exploration/RBID.i   -Sk "pubmed:19278193" \
       | HfdSelect -Kh $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd   \
       | NlmPubMed2Wicri -a HapticV1

This area was generated with Dilib version V0.6.23.
Data generation: Mon Jun 13 01:09:46 2016. Site generation: Wed Mar 6 09:54:07 2024

Serveur d'exploration sur les dispositifs haptiques

A haptic unit designed for magnetic-resonance-guided biopsy.

A haptic unit designed for magnetic-resonance-guided biopsy.

Source :

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri

Pour générer des pages wiki

	Serveur d'exploration sur les dispositifs haptiques
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.