A Robot for Prostate Needle Insertion Surgery Based on MRI-Guidance
GUO Jie1, JIANG Shan1, FENG Wenhao1, LIU Jun2
1. School of Mechanical Engineering, Tianjin University, Tianjin 300072, China;
2. Depatment of Magnetic Resonance, Tianjin Union Medicine Center, Tianjin 300121, China
Based on the analysis on MRI (magnetic resonance imaging)-guided surgical robot design requirements, a robotic system for transperineal prostate brachytherapy is designed. The robot system with 5 DOFs is actuated by MR-compatible pneumatic cylinders and ultrasonic motor, and needle posture adjustment and insertion action can be achieved automatically. By system dynamics analysis of the robot, the type selection of driving cylinder is accomplished. Finally, MR-compatibility experiment and needle insertion precision experiment are completed to verify that the robotic system can meet MR-compatibility requirement, and the precision of the needle insertion is 0.91mm.
[1] 张立勋,于凌涛,赵继亮,等.基于微创外科手术机器人操作手的夹持灵活度研究[J]. 机器人,2009,31(3): 197-203. Zhang L X, Yu L T, Zhao J L, et al. On clamping dexterity of minimally invasive surgical robot manipulator[J]. Robot, 2009, 31(3): 197-203.
[2] Dai J S. Surgical robotics and its development and progress[J]. Robotica, 2010, 28(2): 161.
[3] 丑武胜,王田苗. 医用机器人与数字化医疗仪器设备的研究和发展[J].机器人技术与应用,2003(4): 7-11. Chou W S, Wang T M. The research and development of medical robot and digital armamentarium[J]. Robot Technique and Application, 2003(4): 7-11.
[4] Aigner F, Pallwein L, Pelzer A, et al. Value of magnetic resonance imaging in prostate cancer diagnosis[J]. World Journal of Urology, 2007, 25(4): 351-359.
[5] 洪在地,贠超,赵磊,等. 核磁共振兼容手术机器人研究[J].中国生物医学工程学报,2008,27(4): 621-629. Hong Z D, Yun C, Zhao L, et al. Summary on MR-compatible surgical robot[J]. Chinese Journal of Biomedical Engineering, 2008, 27(4): 621-629.
[6] Krieger A, Susil R C, Menard C, et al. Design of a novel MRI compatible manipulator for image guided prostate interventions [J]. IEEE Transactions on Biomedical Engineering, 2005, 52(2): 306-313.
[7] Patriciu A, Petrisor D, Muntener M, et al. Automatic brachytherapy seed placement under MRI guidance[J]. IEEE Transactions on Biomedical Engineering, 2007, 54(8): 1499-1506.
[8] Muntener M, Patriciu A, Petrisor D, et al. Magnetic resonance imaging compatible robotic system for fully automated brachytherapy seed placement[J]. Urology, 2006, 68(6): 1313-1317.
[9] Fischer G S, Iordachita I, Csoma C, et al. MRI-compatible pneumatic robot for transperineal prostate needle placement[J]. IEEE/ASME Transactions on Mechatronics, 2008, 13(3): 295-305.
[10] Tokuda J, Fischer G S, Dimaio S P, et al. Integrated navigation and control software system for MRI-guided robotic prostate interventions[J]. Computerized Medical Imaging and Graphics, 2010, 34(1): 3-8.
[11] Goldenberg A A, Trachtenberg J, Yi Y, et al. Robot-assistedMRI-guided prostatic interventions[J]. Robotica, 2010, 28(sup.): 215-234.
[12] 邵兵,孙立宁,杜志江,等.MRI导航的机器人辅助微创外科手术系统设计[J]. 机械工程师,2004(5): 12-15. Shao B, Sun L N, Du Z J, et al. The design of the MRI-guided robotic minimally invasive surgery system[J]. Mechanical Engineer, 2004(5): 12-15.
[13] 洪在地,贠超,赵磊. 用于神经外科手术的磁共振图像导航机器人的兼容性研究[J].机器人,2009,31(3): 204-209. Hong Z D, Yun C, Zhao L. On compatibility of an MRI-guided robot for neurosurgery[J]. Robot, 2009, 31(3): 204-209.
[14] 张永德,耿利威,杜海艳,等. 核磁共振兼容手术机器人的驱动方式分析[J].机械设计,2010,27(3): 44-49. Zhang Y D, Geng L W, Du H Y, et al. Drive method analysis of magnetic resonance imaging compatible surgical robots[J]. Journal of Machine Design, 2010, 27(3): 44-49.
[15] Wallner K C, Blasko J, Dattoli M. Prostate brachytherapy made complicated[M]. 2ed ed. Seattle, WA, USA: Smartmedicine Press, 2001.
[16] Gassert R, Chapuis D, Bleuler H, et al. Sensors for applications in magnetic resonance environments[J]. IEEE/ASME Transactions on Mechatronics, 2008, 13(3): 335-344.
[17] Jiang S, Liu X Y, Song Y C. 3D trajectory planning based on FEM with application of brachytherapy[C]//Proceedings of the 2ed International Conference on Biomedical Engineering and Informatics. Piscataway, NJ, USA: IEEE, 2009: 1-5.