{"title":"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。","authors":"Samuel Lafreniere, Blayton Padasdao, Bardia Konh","doi":"10.1002/rcs.70015","DOIUrl":null,"url":null,"abstract":"<div>\n \n \n <section>\n \n <h3> Background</h3>\n \n <p>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.</p>\n </section>\n \n <section>\n \n <h3> Methods</h3>\n \n <p>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.</p>\n </section>\n \n <section>\n \n <h3> Results</h3>\n \n <p>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.</p>\n </section>\n \n <section>\n \n <h3> Conclusions</h3>\n \n <p>The robot's capability to steer the needle towards target inside a phantom and extract a sample was evaluated.</p>\n </section>\n </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"20 6","pages":""},"PeriodicalIF":2.3000,"publicationDate":"2024-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Towards Design and Development of an MRI Conditional Robot to Enable Curvilinear Transperineal Prostate Biopsy\",\"authors\":\"Samuel Lafreniere, Blayton Padasdao, Bardia Konh\",\"doi\":\"10.1002/rcs.70015\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div>\\n \\n \\n <section>\\n \\n <h3> Background</h3>\\n \\n <p>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.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Methods</h3>\\n \\n <p>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.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Results</h3>\\n \\n <p>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.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Conclusions</h3>\\n \\n <p>The robot's capability to steer the needle towards target inside a phantom and extract a sample was evaluated.</p>\\n </section>\\n </div>\",\"PeriodicalId\":50311,\"journal\":{\"name\":\"International Journal of Medical Robotics and Computer Assisted Surgery\",\"volume\":\"20 6\",\"pages\":\"\"},\"PeriodicalIF\":2.3000,\"publicationDate\":\"2024-12-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Medical Robotics and Computer Assisted Surgery\",\"FirstCategoryId\":\"3\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1002/rcs.70015\",\"RegionNum\":3,\"RegionCategory\":\"医学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"SURGERY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Medical Robotics and Computer Assisted Surgery","FirstCategoryId":"3","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rcs.70015","RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"SURGERY","Score":null,"Total":0}
Towards Design and Development of an MRI Conditional Robot to Enable Curvilinear Transperineal Prostate Biopsy
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.
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.
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