Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches
Identifieur interne : 001F17 ( Pmc/Checkpoint ); précédent : 001F16; suivant : 001F18Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches
Auteurs : Sang-Eun Song ; Nathan B. Cho ; Gregory Fischer ; Nobuhito Hata ; Clare Tempany ; Gabor Fichtinger ; Iulian IordachitaSource :
- IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation [ 2152-4092 ] ; 2010.
Abstract
Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained.
Url:
DOI: 10.1109/ROBOT.2010.5509710
PubMed: 21399734
PubMed Central: 3051168
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<pmc-dir>properties manuscript</pmc-dir>
<front><journal-meta><journal-id journal-id-type="nlm-journal-id">101518638</journal-id><journal-id journal-id-type="pubmed-jr-id">38753</journal-id><journal-id journal-id-type="nlm-ta">IEEE Int Conf Robot Autom</journal-id><journal-title>IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation</journal-title><issn pub-type="ppub">2152-4092</issn></journal-meta><article-meta><article-id pub-id-type="pmid">21399734</article-id><article-id pub-id-type="pmc">3051168</article-id><article-id pub-id-type="doi">10.1109/ROBOT.2010.5509710</article-id><article-id pub-id-type="manuscript">NIHMS245696</article-id><article-categories><subj-group subj-group-type="heading"><subject>Article</subject></subj-group></article-categories><title-group><article-title>Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches</article-title></title-group><contrib-group><contrib contrib-type="author"><name><surname>Song</surname><given-names>Sang-Eun</given-names></name><aff id="A1">National Science Foundation Engineering Research Center for Computer-Integrated Surgical System and Technology, The Johns Hopkins University, Baltimore, MD, US</aff></contrib><contrib contrib-type="author"><name><surname>Cho</surname><given-names>Nathan B.</given-names></name><aff id="A2">National Science Foundation Engineering Research Center for Computer-Integrated Surgical System and Technology, The Johns Hopkins University, Baltimore, MD, US</aff></contrib><contrib contrib-type="author"><name><surname>Fischer</surname><given-names>Gregory</given-names></name><aff id="A3">Worcester Polytechnic Institute, Worcester, MA, US</aff></contrib><contrib contrib-type="author"><name><surname>Hata</surname><given-names>Nobuhito</given-names></name><aff id="A4">Brigham and Women’s Hospital, Harvard Medical School, Boston, MA, US</aff></contrib><contrib contrib-type="author"><name><surname>Tempany</surname><given-names>Clare</given-names></name><aff id="A5">Brigham and Women’s Hospital, Harvard Medical School, Boston, MA, US</aff></contrib><contrib contrib-type="author"><name><surname>Fichtinger</surname><given-names>Gabor</given-names></name><aff id="A6">Queen’s University, Kingston, Canada</aff></contrib><contrib contrib-type="author"><name><surname>Iordachita</surname><given-names>Iulian</given-names></name><aff id="A7">National Science Foundation Engineering Research Center for Computer-Integrated Surgical System and Technology, The Johns Hopkins University, Baltimore, MD, US</aff></contrib></contrib-group><author-notes><corresp id="CR1">Corresponding author: S. Song (<email>ssong17@jhu.edu</email>)
</corresp></author-notes><pub-date pub-type="nihms-submitted"><day>25</day><month>2</month><year>2011</year></pub-date><pub-date pub-type="ppub"><day>15</day><month>7</month><year>2010</year></pub-date><pub-date pub-type="pmc-release"><day>9</day><month>3</month><year>2011</year></pub-date><volume>2010</volume><fpage>2580</fpage><lpage>2585</lpage><permissions><copyright-statement>©2010 IEEE</copyright-statement><copyright-year>2010</copyright-year></permissions><abstract><p id="P1">Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained.</p></abstract><contract-num rid="CA1">R01 CA111288-01A1
||CA</contract-num><contract-sponsor id="CA1">National Cancer Institute : NCI</contract-sponsor></article-meta></front></pmc><affiliations><list></list><tree><noCountry><name sortKey="Cho, Nathan B" sort="Cho, Nathan B" uniqKey="Cho N" first="Nathan B." last="Cho">Nathan B. Cho</name><name sortKey="Fichtinger, Gabor" sort="Fichtinger, Gabor" uniqKey="Fichtinger G" first="Gabor" last="Fichtinger">Gabor Fichtinger</name><name sortKey="Fischer, Gregory" sort="Fischer, Gregory" uniqKey="Fischer G" first="Gregory" last="Fischer">Gregory Fischer</name><name sortKey="Hata, Nobuhito" sort="Hata, Nobuhito" uniqKey="Hata N" first="Nobuhito" last="Hata">Nobuhito Hata</name><name sortKey="Iordachita, Iulian" sort="Iordachita, Iulian" uniqKey="Iordachita I" first="Iulian" last="Iordachita">Iulian Iordachita</name><name sortKey="Song, Sang Eun" sort="Song, Sang Eun" uniqKey="Song S" first="Sang-Eun" last="Song">Sang-Eun Song</name><name sortKey="Tempany, Clare" sort="Tempany, Clare" uniqKey="Tempany C" first="Clare" last="Tempany">Clare Tempany</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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