A Passive Parallel Master–Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions
Identifieur interne : 001388 ( Pmc/Curation ); précédent : 001387; suivant : 001389A Passive Parallel Master–Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions
Auteurs : Santhi Elayaperumal ; Mark R. Cutkosky ; Pierre Renaud ; Bruce L. DanielSource :
- Journal of Medical Devices [ 1932-6181 ] ; 2015.
Abstract
A passive, parallel master–slave mechanism is presented for magnetic resonance imaging (MRI)-guided interventions in the pelvis. The mechanism allows a physician to stand outside the MRI scanner while manipulating a needle inside the bore and, unlike a powered robot, does not place actuators in proximity to the patient. The manipulator combines two parallel mechanisms based on the Delta robot architecture. The mechanism also includes a two-axis gimbal to allow for tool angulation, giving a total of five degrees of freedom so that the physician can insert and steer a needle using continuous natural arm and wrist movements, unlike simple needle guides. The need for access between the patient’s legs and within the MRI scanner leads to an unusual asymmetric design in which the sliding prismatic joints form the vertices of an isosceles triangle. Kinematic analysis shows that the dexterity index of this design is improved over the desired workspace, as compared to an equilateral design. The analysis is extended to estimate the effect of friction and model the input:output force transmission. Prototypes, with final dimensions selected for transperineal prostate interventions, showed force transmission behavior as predicted by simulation, and easily withstood maximum forces required for tool insertion.
Url:
DOI: 10.1115/1.4028944
PubMed: 25729467
PubMed Central: 4245788
Links toward previous steps (curation, corpus...)
- to stream Pmc, to step Corpus: Pour aller vers cette notice dans l'étape Curation :001388
Links to Exploration step
PMC:4245788Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A Passive Parallel Master–Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions</title><author><name sortKey="Elayaperumal, Santhi" sort="Elayaperumal, Santhi" uniqKey="Elayaperumal S" first="Santhi" last="Elayaperumal">Santhi Elayaperumal</name></author><author><name sortKey="Cutkosky, Mark R" sort="Cutkosky, Mark R" uniqKey="Cutkosky M" first="Mark R." last="Cutkosky">Mark R. Cutkosky</name></author><author><name sortKey="Renaud, Pierre" sort="Renaud, Pierre" uniqKey="Renaud P" first="Pierre" last="Renaud">Pierre Renaud</name></author><author><name sortKey="Daniel, Bruce L" sort="Daniel, Bruce L" uniqKey="Daniel B" first="Bruce L." last="Daniel">Bruce L. Daniel</name></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">25729467</idno><idno type="pmc">4245788</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4245788</idno><idno type="RBID">PMC:4245788</idno><idno type="doi">10.1115/1.4028944</idno><date when="2015">2015</date><idno type="wicri:Area/Pmc/Corpus">001388</idno><idno type="wicri:Area/Pmc/Curation">001388</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">A Passive Parallel Master–Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions</title><author><name sortKey="Elayaperumal, Santhi" sort="Elayaperumal, Santhi" uniqKey="Elayaperumal S" first="Santhi" last="Elayaperumal">Santhi Elayaperumal</name></author><author><name sortKey="Cutkosky, Mark R" sort="Cutkosky, Mark R" uniqKey="Cutkosky M" first="Mark R." last="Cutkosky">Mark R. Cutkosky</name></author><author><name sortKey="Renaud, Pierre" sort="Renaud, Pierre" uniqKey="Renaud P" first="Pierre" last="Renaud">Pierre Renaud</name></author><author><name sortKey="Daniel, Bruce L" sort="Daniel, Bruce L" uniqKey="Daniel B" first="Bruce L." last="Daniel">Bruce L. Daniel</name></author></analytic><series><title level="j">Journal of Medical Devices</title><idno type="ISSN">1932-6181</idno><idno type="eISSN">1932-619X</idno><imprint><date when="2015">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>A passive, parallel master–slave mechanism is presented for magnetic resonance imaging (MRI)-guided interventions in the pelvis. The mechanism allows a physician to stand outside the MRI scanner while manipulating a needle inside the bore and, unlike a powered robot, does not place actuators in proximity to the patient. The manipulator combines two parallel mechanisms based on the Delta robot architecture. The mechanism also includes a two-axis gimbal to allow for tool angulation, giving a total of five degrees of freedom so that the physician can insert and steer a needle using continuous natural arm and wrist movements, unlike simple needle guides. The need for access between the patient’s legs and within the MRI scanner leads to an unusual asymmetric design in which the sliding prismatic joints form the vertices of an isosceles triangle. Kinematic analysis shows that the dexterity index of this design is improved over the desired workspace, as compared to an equilateral design. The analysis is extended to estimate the effect of friction and model the input:output force transmission. Prototypes, with final dimensions selected for transperineal prostate interventions, showed force transmission behavior as predicted by simulation, and easily withstood maximum forces required for tool insertion.</p></div></front></TEI><pmc article-type="research-article"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
<front><journal-meta><journal-id journal-id-type="nlm-ta">J Med Device</journal-id><journal-id journal-id-type="iso-abbrev">J Med Device</journal-id><journal-id journal-id-type="pmc">MED</journal-id><journal-title-group><journal-title>Journal of Medical Devices</journal-title></journal-title-group><issn pub-type="ppub">1932-6181</issn><issn pub-type="epub">1932-619X</issn><publisher><publisher-name>American Society of Mechanical Engineers</publisher-name></publisher></journal-meta><article-meta><article-id pub-id-type="pmid">25729467</article-id><article-id pub-id-type="pmc">4245788</article-id><article-id pub-id-type="doi">10.1115/1.4028944</article-id><article-id pub-id-type="coden">JMDOA4</article-id><article-id pub-id-type="publisher-id">MED-13-1302</article-id><article-id pub-id-type="publisher-manuscript">MED-13-1302</article-id><article-categories><subj-group subj-group-type="heading"><subject>Research Papers</subject></subj-group></article-categories><title-group><article-title>A Passive Parallel Master–Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Elayaperumal</surname><given-names>Santhi</given-names></name><aff>Graduate<break></break>Mem. ASME<break></break>Department of Mechanical Engineering,<break></break><institution>Stanford University</institution>,<break></break><addr-line>Stanford, CA 94305</addr-line><break></break>e-mail: <email>santhie@stanford.edu</email></aff></contrib><contrib contrib-type="author"><name><surname>Cutkosky</surname><given-names>Mark R.</given-names></name><aff>Professor<break></break>Fellow ASME<break></break>Department of Mechanical Engineering,<break></break><institution>Stanford University</institution>,<break></break><addr-line>Stanford, CA 94305</addr-line><break></break>e-mail: <email>cutkosky@stanford.edu</email></aff></contrib><contrib contrib-type="author"><name><surname>Renaud</surname><given-names>Pierre</given-names></name><aff>Professor<break></break>ICube,<break></break><institution>CNRS-INSA-Strasbourg University</institution>,<break></break><addr-line>Strasbourg 67000</addr-line>,<country>France</country><break></break>e-mail: <email>pierre.renaud@insa-strasbourg.fr</email></aff></contrib><contrib contrib-type="author"><name><surname>Daniel</surname><given-names>Bruce L.</given-names></name><aff>Professor<break></break>Department of Radiology,<break></break><institution>Stanford University</institution>,<break></break><addr-line>Stanford, CA 94305</addr-line><break></break>e-mail: <email>bdaniel@stanford.edu</email></aff></contrib></contrib-group><author-notes><fn fn-type="other"><p>Manuscript received December 23, 2013; final manuscript received October 12, 2014; published online November 26, 2014. Assoc. Editor: Carl Nelson.</p></fn></author-notes><pub-date pub-type="ppub"><month>3</month><year>2015</year></pub-date><volume>9</volume><issue>1</issue><fpage>0110081</fpage><lpage>01100811</lpage><history><date date-type="received"><day>23</day><month>12</month><year>2013</year></date><date date-type="rev-recd"><day>12</day><month>10</month><year>2014</year></date><date date-type="online"><day>26</day><month>11</month><year>2014</year></date></history><permissions><copyright-statement>Copyright © 2015 by ASME</copyright-statement><copyright-year>2015</copyright-year><license license-type="ccc"><license-p>1932-6181/2015/9(01)/011008/11/<price>$0.00</price></license-p></license></permissions><self-uri xlink:title="pdf" xlink:type="simple" xlink:href="med-13-1302_011008.pdf"></self-uri><abstract abstract-type="short"><p>A passive, parallel master–slave mechanism is presented for magnetic resonance imaging (MRI)-guided interventions in the pelvis. The mechanism allows a physician to stand outside the MRI scanner while manipulating a needle inside the bore and, unlike a powered robot, does not place actuators in proximity to the patient. The manipulator combines two parallel mechanisms based on the Delta robot architecture. The mechanism also includes a two-axis gimbal to allow for tool angulation, giving a total of five degrees of freedom so that the physician can insert and steer a needle using continuous natural arm and wrist movements, unlike simple needle guides. The need for access between the patient’s legs and within the MRI scanner leads to an unusual asymmetric design in which the sliding prismatic joints form the vertices of an isosceles triangle. Kinematic analysis shows that the dexterity index of this design is improved over the desired workspace, as compared to an equilateral design. The analysis is extended to estimate the effect of friction and model the input:output force transmission. Prototypes, with final dimensions selected for transperineal prostate interventions, showed force transmission behavior as predicted by simulation, and easily withstood maximum forces required for tool insertion.</p></abstract><counts><fig-count count="11"></fig-count><table-count count="5"></table-count><equation-count count="24"></equation-count><ref-count count="32"></ref-count><page-count count="11"></page-count><word-count count="0000"></word-count></counts></article-meta></front></pmc></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Pmc/Curation
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001388 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Pmc/Curation/biblio.hfd -nk 001388 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Pmc
|étape= Curation
|type= RBID
|clé= PMC:4245788
|texte= A Passive Parallel Master–Slave Mechanism for Magnetic Resonance Imaging-Guided Interventions
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Pmc/Curation/RBID.i -Sk "pubmed:25729467" \
| HfdSelect -Kh $EXPLOR_AREA/Data/Pmc/Curation/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |