Dataset Information

Design, Analysis, and Evaluation of a Remotely Actuated MRI-Compatible Neurosurgical Robot.

ABSTRACT: The paper presents an MRI-compatible neurosurgical robotic system that is designed to operate the head-mounted meso-scale 6-degree-of-freedom (DoF) spring-based MINIR-II. The robotic system consists of an actuation module, a transmission module, and the robot module. The transmission module consist of a switching mechanism for reducing the required number of motors by half, an innovative linkage mechanism to insert and retract the robot with minimal tendon displacement and friction loss, and a quick-connect mechanism for easy attachment of the disposable MINIR-II. Design, analysis, and development of each module are described in detail. Most of the critical components such as the robot, the quick-connect, the linkage mechanism, and various gear-pulley combinations in our design are 3-D printed. Preliminary mechanical properties characterization of the system and the capability of the underactuated system to replicate the critical functions of the 6-DoF robot are presented. The robot motion capability in a brain phantom model and its MRI compatibility in a 7-Tesla magnet were verified.

SUBMITTER: Wang X

PROVIDER: S-EPMC6205204 | biostudies-literature | 2018 Jul

REPOSITORIES: biostudies-literature

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Publications

Design, Analysis, and Evaluation of a Remotely Actuated MRI-Compatible Neurosurgical Robot.

Wang Xuefeng X Cheng Shing Shin SS Desai Jaydev P JP

IEEE robotics and automation letters 20180227 3

The paper presents an MRI-compatible neurosurgical robotic system that is designed to operate the head-mounted meso-scale 6-degree-of-freedom (DoF) spring-based MINIR-II. The robotic system consists of an actuation module, a transmission module, and the robot module. The transmission module consist of a switching mechanism for reducing the required number of motors by half, an innovative linkage mechanism to insert and retract the robot with minimal tendon displacement and friction loss, and a q ...[more]

PMID: 30386822

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Project description:BackgroundAt present, agricultural robots are produced in large quantities and used in agricultural planting, and the traditional agricultural model is gradually shifting to rely on the Internet of Things and sensors to accurately detect crop growth information. The scientific and rational design of agricultural robots plays a huge role in planting and production efficiency, however, the factors affecting their design are complex and ambiguous, so it is necessary to use a rational evaluation system to make a preferential decision among multiple design options.PurposesIn order to reduce the subjectivity and blindness of program selection in the process of agricultural robot design, make the decision more objective and reasonable, and thus enhance the practicality and scientificity of the program, a new comprehensive evaluation method based on user requirements is proposed.MethodsFirst, after researching and interviewing users and farming operations, obtaining raw information on requirements, using the Kano model to classify the requirements and establishing an evaluation index system. Secondly, the combination of hierarchical analysis(AHP) and entropy weighting method is used to assign weights to the evaluation index system, calculate the weight value and importance ranking of each index, and carry out various program designs based on the ranking. Finally, the VIKOR method was applied to evaluate and rank the design solutions.ResultsThe new evaluation method can better complete the preferential decision of the agricultural robot design scheme and get a more perfect design scheme, which reduces the influence of human subjective thinking in the decision-making process.ConclusionsThe method not only corrects the traditional evaluation method, but also effectively improves the accuracy and comprehensiveness of the design evaluation process. It also provides a reference for designers to preferably select design solutions and promotes the development of small mobile machines in the context of smart agriculture.

Project description:The paper reports an important achievement in MRI instrumentation, a pneumatic, fully actuated robot located within the scanner alongside the patient and operating under remote control based on the images. Previous MRI robots commonly used piezoelectric actuation limiting their compatibility. Pneumatics is an ideal choice for MRI compatibility because it is decoupled from electromagnetism, but pneumatic actuators were hardly controllable. This achievement was possible due to a recent technology breakthrough, the invention of a new type of pneumatic motor, PneuStep 1, designed for the robot reported here with uncompromised MRI compatibility, high-precision, and medical safety. MrBot is one of the "MRI stealth" robots today (the second is described in this issue by Zangos et al.). Both of these systems are also multi-imager compatible, being able to operate with the imager of choice or cross-imaging modalities. For MRI compatibility the robot is exclusively constructed of nonmagnetic and dielectric materials such as plastics, ceramics, crystals, rubbers and is electricity free. Light-based encoding is used for feedback, so that all electric components are distally located outside the imager's room. MRI robots are modern, digital medical instruments in line with advanced imaging equipment and methods. These allow for accessing patients within closed bore scanners and performing interventions under direct (in scanner) imaging feedback. MRI robots could allow e.g. to biopsy small lesions imaged with cutting edge cancer imaging methods, or precisely deploy localized therapy at cancer foci. Our robot is the first to show the feasibility of fully automated in-scanner interventions. It is customized for the prostate and operates transperineally for needle interventions. It can accommodate various needle drivers for different percutaneous procedures such as biopsy, thermal ablations, or brachytherapy. The first needle driver is customized for fully automated low-dose radiation seed brachytherapy. This paper gives an introduction to the challenges of MRI robot compatibility and presents the solutions adopted in making the MrBot. Its multi-imager compatibility and other preclinical tests are included. The robot shows the technical feasibility of MRI-guided prostate interventions, yet its clinical utility is still to be determined.

Dataset Information

Design, Analysis, and Evaluation of a Remotely Actuated MRI-Compatible Neurosurgical Robot.

Publications

Design, Analysis, and Evaluation of a Remotely Actuated MRI-Compatible Neurosurgical Robot.

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