TY - GEN
T1 - A MRI-guided concentric tube continuum robot with piezoelectric actuation
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
AU - Su, Hao
AU - Cardona, Diana C.
AU - Shang, Weijian
AU - Camilo, Alexander
AU - Cole, Gregory A.
AU - Rucker, D. Caleb
AU - Webster, Robert J.
AU - Fischer, Gregory S.
PY - 2012
Y1 - 2012
N2 - This paper presents a versatile magnetic resonance imaging (MRI) compatible concentric tube continuum robotic system. The system enables MR image-guided placement of a curved, steerable active cannula. It is suitable for a variety of clinical applications including image-guided neurosurgery and percutaneous interventions, along with procedures that involve accessing a desired image target, through a curved trajectory. This 6 degree-of-freedom (DOF) robotic device is piezoelectrically actuated to provide precision motion with joint-level precision of better than 0.03mm, and is fully MRI-compatible allowing simultaneous robotic motion and imaging with no image quality degradation. The MRI compatibility of the robot has been evaluated under 3 Tesla MRI using standard prostate imaging sequences, with an average signal to noise ratio loss of less than 2% during actuator motion. The accuracy of active cannula control was evaluated in benchtop trials using an external optical tracking system with RMS error in tip placement of 1.00mm. Preliminary phantom trials of three active cannula placements in the MRI scanner showed cannula trajectories that agree with our kinematic model, with a RMS tip placement error of 0.61 - 2.24 mm.
AB - This paper presents a versatile magnetic resonance imaging (MRI) compatible concentric tube continuum robotic system. The system enables MR image-guided placement of a curved, steerable active cannula. It is suitable for a variety of clinical applications including image-guided neurosurgery and percutaneous interventions, along with procedures that involve accessing a desired image target, through a curved trajectory. This 6 degree-of-freedom (DOF) robotic device is piezoelectrically actuated to provide precision motion with joint-level precision of better than 0.03mm, and is fully MRI-compatible allowing simultaneous robotic motion and imaging with no image quality degradation. The MRI compatibility of the robot has been evaluated under 3 Tesla MRI using standard prostate imaging sequences, with an average signal to noise ratio loss of less than 2% during actuator motion. The accuracy of active cannula control was evaluated in benchtop trials using an external optical tracking system with RMS error in tip placement of 1.00mm. Preliminary phantom trials of three active cannula placements in the MRI scanner showed cannula trajectories that agree with our kinematic model, with a RMS tip placement error of 0.61 - 2.24 mm.
KW - Active cannula
KW - Concentric tube continuum robot
KW - Image-guided needle placement
KW - MRI-compatible robot
KW - Percutaneous interventions
KW - Stereotactic surgery
UR - http://www.scopus.com/inward/record.url?scp=84864491111&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864491111&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6224550
DO - 10.1109/ICRA.2012.6224550
M3 - Conference contribution
AN - SCOPUS:84864491111
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1939
EP - 1945
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 14 May 2012 through 18 May 2012
ER -