Development of a pneumatic robot for MRI-guided transperineal prostate biopsy and brachytherapy: New approaches

Sang Eun Song; Nathan B. Cho; Gregory Fischer; Nobuhito Hata; Clare Tempany; Gabor Fichtinger; Iulian Iordachita

doi:10.1109/ROBOT.2010.5509710

Development of a pneumatic robot for MRI-guided transperineal prostate biopsy and brachytherapy: New approaches

Sang Eun Song, Nathan B. Cho, Gregory Fischer, Nobuhito Hata, Clare Tempany, Gabor Fichtinger, Iulian Iordachita

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

74 Scopus citations

Abstract

Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained.

Original language	English (US)
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	2580-2585
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2010.5509710
State	Published - 2010
Externally published	Yes
Event	2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States Duration: May 3 2010 → May 7 2010

Other

Other	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/Territory	United States
City	Anchorage, AK
Period	5/3/10 → 5/7/10

ASJC Scopus subject areas

Software
Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/ROBOT.2010.5509710

Cite this

Song, SE, Cho, NB, Fischer, G, Hata, N, Tempany, C, Fichtinger, G & Iordachita, I 2010, Development of a pneumatic robot for MRI-guided transperineal prostate biopsy and brachytherapy: New approaches. in Proceedings - IEEE International Conference on Robotics and Automation., 5509710, pp. 2580-2585, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 5/3/10. https://doi.org/10.1109/ROBOT.2010.5509710

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abstract = "Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained.",

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AU - Song, Sang Eun

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AU - Fischer, Gregory

AU - Hata, Nobuhito

AU - Tempany, Clare

AU - Fichtinger, Gabor

AU - Iordachita, Iulian

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AB - Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained.

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Development of a pneumatic robot for MRI-guided transperineal prostate biopsy and brachytherapy: New approaches

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