Towards Design and Development of an MRI Conditional Robot to Enable Curvilinear Transperineal Prostate Biopsy

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2024-12-06 DOI:10.1002/rcs.70015

Samuel Lafreniere, Blayton Padasdao, Bardia Konh

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引用次数: 0

Abstract

Background

In-bore MRI prostate biopsy offers improved visualisation and detection of significant prostate cancer; however, it is not widely practiced in cancer diagnosis due to its associated costs.

Methods

This work introduces the first prototype towards a 7-degrees-of-freedom (DOF) MRI-conditional piezoelectrically actuated robotic system for transperineal prostate biopsy. The robot enables needle insertions in the desired trajectories. Kinematic and static models of the active needle as well as automated control of the robot are presented.

Results

It is shown that the controller can force the needle to realize the reference sine and triangular bending angles with an accuracy of 1.78 and 1.88°, respectively, in air. The trajectory tracking capability of the system in free space is shown with an RMS error of 0.86 mm and a standard deviation of 0.36 mm.

Conclusions

The robot's capability to steer the needle towards target inside a phantom and extract a sample was evaluated.

查看原文本刊更多论文

实现曲线经会阴前列腺活检的MRI条件机器人的设计与开发。

背景：前列腺穿刺MRI活检可以改善前列腺癌的显像和检测；然而，由于其相关费用，它并没有广泛应用于癌症诊断。方法：本工作介绍了用于经会阴前列腺活检的7自由度（DOF）磁共振条件压电驱动机器人系统的第一个原型。该机器人使针头能够在所需的轨迹上插入。给出了活动针的运动学和静力学模型以及机器人的自动控制。结果表明：该控制器能强制针在空气中实现参考正弦角和参考三角形角的弯曲，其精度分别为1.78°和1.88°。在自由空间中，系统的轨迹跟踪能力的均方根误差为0.86 mm，标准偏差为0.36 mm。结论：评估了机器人将针指向幽灵内部目标并提取样本的能力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.