Design of a decoupled MRI-compatible force sensor using fiber Bragg grating sensors for robot-assisted prostate interventions

Reza Monfaredi, Reza Seifabadi, Gabor Fichtinger, Iulian Iordachita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

During prostate needle insertion, the gland rotates and displaces resulting in needle placement inaccuracy. To compensate for this error, we proposed master-slave needle steering under real-time MRI in a previous study. For MRI-compatibility and accurate motion control, the master (and the slave) robot uses piezo actuators. These actuators however, are non-backdrivable. To cope with this issue, force sensor is required. Force sensor is also required at the slave side to reflect the insertion force to clinician's hand through the master robot. Currently, there is no MRIcompatible force sensor commercially available. In order to generate a combination of linear and rotary motions for needle steering, this study is seeking to develop a MRI-compatible 2 Degrees of Freedom (DOF) force/torque sensor. Fiber Brag Grating (FBG) strain measuring sensors which are proven to be MRI-compatible are used. The active element is made of phosphor-bronze and other parts are made of brass. The force and torque measurements are designed to be entirely decoupled. The sensor measures -20 to 20 N axial force with 0.1 N resolution, and -200 to 200 Nmm axial torque with 1 Nmm resolution. Analytical and Finite Element (FE) analyses are performed to ensure the strains are within the measurable range of the FBG sensors. The sensor is designed to be compact (diameter =15 mm, height =20 mm) and easy to handle and install. The proposed sensor is fabricated and calibrated using a commercial force/torque sensor.

Original languageEnglish (US)
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
Volume8671
DOIs
StatePublished - 2013
Externally publishedYes
EventMedical Imaging 2013: Image-Guided Procedures, Robotic Interventions, and Modeling - Lake Buena Vista, FL, United States
Duration: Feb 12 2013Feb 14 2013

Other

OtherMedical Imaging 2013: Image-Guided Procedures, Robotic Interventions, and Modeling
CountryUnited States
CityLake Buena Vista, FL
Period2/12/132/14/13

Keywords

  • 2DOF decoupled force/torque sensor
  • MRI-compatible force sensor
  • MRI-guided needle steering
  • Prostate intervention

ASJC Scopus subject areas

  • Applied Mathematics
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics

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