Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.
Identifieur interne : 000A64 ( PubMed/Corpus ); précédent : 000A63; suivant : 000A65Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.
Auteurs : Weijian Shang ; Hao Su ; Gang Li ; Gregory S. FischerSource :
- Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems [ 2153-0858 ] ; 2013.
Abstract
This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.
DOI: 10.1109/IROS.2013.6696942
PubMed: 25126446
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Fischer</name><affiliation><nlm:affiliation>Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA.</nlm:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2013">2013</date><idno type="doi">10.1109/IROS.2013.6696942</idno><idno type="RBID">pubmed:25126446</idno><idno type="pmid">25126446</idno><idno type="wicri:Area/PubMed/Corpus">000A64</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.</title><author><name sortKey="Shang, Weijian" sort="Shang, Weijian" uniqKey="Shang W" first="Weijian" last="Shang">Weijian Shang</name><affiliation><nlm:affiliation>Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA.</nlm:affiliation></affiliation></author><author><name sortKey="Su, Hao" sort="Su, Hao" uniqKey="Su H" first="Hao" last="Su">Hao Su</name><affiliation><nlm:affiliation>Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA.</nlm:affiliation></affiliation></author><author><name sortKey="Li, Gang" sort="Li, Gang" uniqKey="Li G" first="Gang" last="Li">Gang Li</name><affiliation><nlm:affiliation>Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA.</nlm:affiliation></affiliation></author><author><name sortKey="Fischer, Gregory S" sort="Fischer, Gregory S" uniqKey="Fischer G" first="Gregory S" last="Fischer">Gregory S. Fischer</name><affiliation><nlm:affiliation>Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA.</nlm:affiliation></affiliation></author></analytic><series><title level="j">Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems</title><idno type="ISSN">2153-0858</idno><imprint><date when="2013" type="published">2013</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.</div></front></TEI><pubmed><MedlineCitation Status="Publisher" Owner="NLM"><PMID Version="1">25126446</PMID><DateCreated><Year>2014</Year><Month>8</Month><Day>15</Day></DateCreated><Article PubModel="Print"><Journal><ISSN IssnType="Print">2153-0858</ISSN><JournalIssue CitedMedium="Print"><Volume>2013</Volume><PubDate><Year>2013</Year></PubDate></JournalIssue><Title>Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems</Title><ISOAbbreviation>Rep U S</ISOAbbreviation></Journal><ArticleTitle>Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.</ArticleTitle><Pagination><MedlinePgn>4092-4098</MedlinePgn></Pagination><Abstract><AbstractText>This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.</AbstractText></Abstract><AuthorList><Author><LastName>Shang</LastName><ForeName>Weijian</ForeName><Initials>W</Initials><AffiliationInfo><Affiliation>Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA.</Affiliation></AffiliationInfo></Author><Author><LastName>Su</LastName><ForeName>Hao</ForeName><Initials>H</Initials><AffiliationInfo><Affiliation>Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA.</Affiliation></AffiliationInfo></Author><Author><LastName>Li</LastName><ForeName>Gang</ForeName><Initials>G</Initials><AffiliationInfo><Affiliation>Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA.</Affiliation></AffiliationInfo></Author><Author><LastName>Fischer</LastName><ForeName>Gregory S</ForeName><Initials>GS</Initials><AffiliationInfo><Affiliation>Automation and Interventional Medicine (AIM) Robotics Laboratory, Department of Mechanical Engineering, Worcester Polytechnic Institute, 100 Institute Road, Worcester, MA 01609, USA.</Affiliation></AffiliationInfo></Author></AuthorList><Language>ENG</Language><GrantList><Grant><GrantID>R01 CA111288</GrantID><Acronym>CA</Acronym><Agency>NCI NIH HHS</Agency><Country>United States</Country></Grant></GrantList><PublicationTypeList><PublicationType UI="">JOURNAL ARTICLE</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><MedlineTA>Rep U S</MedlineTA><NlmUniqueID>101532742</NlmUniqueID><ISSNLinking>2153-0858</ISSNLinking></MedlineJournalInfo><KeywordList Owner="NOTNLM"><Keyword MajorTopicYN="N">Fabry-Perot interferometry</Keyword><Keyword MajorTopicYN="N">MRI-compatible robot</Keyword><Keyword MajorTopicYN="N">haptics</Keyword><Keyword MajorTopicYN="N">image-guided needle placement</Keyword><Keyword MajorTopicYN="N">percutaneous therapy</Keyword><Keyword MajorTopicYN="N">pneumatic control</Keyword><Keyword MajorTopicYN="N">teleoperation</Keyword></KeywordList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2014</Year><Month>8</Month><Day>16</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2013</Year><Month>1</Month><Day>1</Day><Hour>0</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2013</Year><Month>1</Month><Day>1</Day><Hour>0</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1109/IROS.2013.6696942</ArticleId><ArticleId IdType="pubmed">25126446</ArticleId><ArticleId IdType="pmc">PMC4128939</ArticleId><ArticleId IdType="mid">NIHMS601738</ArticleId></ArticleIdList><pmc-dir>nihms</pmc-dir>
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