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. 2016 Jun;12(2):199-213.
doi: 10.1002/rcs.1671. Epub 2015 Jun 26.

In-bore prostate transperineal interventions with an MRI-guided parallel manipulator: system development and preliminary evaluation

Sohrab Eslami  1 , Weijian Shang  2 , Gang Li  2 , Nirav Patel  2 , Gregory S Fischer  2 , Junichi Tokuda  3 , Nobuhiko Hata  3 , Clare M Tempany  3 , Iulian Iordachita  1
Affiliations

In-bore prostate transperineal interventions with an MRI-guided parallel manipulator: system development and preliminary evaluation

Sohrab Eslami et al. Int J Med Robot. 2016 Jun.

Abstract

Background: Robot-assisted minimally-invasive surgery is well recognized as a feasible solution for diagnosis and treatment of prostate cancer in humans.

Methods: This paper discusses the kinematics of a parallel 4 Degrees-of-Freedom (DOF) surgical manipulator designed for minimally invasive in-bore prostate percutaneous interventions through the patient's perineum. The proposed manipulator takes advantage of four sliders actuated by MRI-compatible piezoelectric motors and incremental rotary encoders. Errors, mostly originating from the design and manufacturing process, need to be identified and reduced before the robot is deployed in clinical trials.

Results: The manipulator has undergone several experiments to evaluate the repeatability and accuracy (about 1 mm in air (in x or y direction) at the needle's reference point) of needle placement, which is an essential concern in percutaneous prostate interventions.

Conclusion: The acquired results endorse the sustainability, precision and reliability of the manipulator. Copyright © 2015 John Wiley & Sons, Ltd.

Keywords: MRI compatible; biopsy; calibration assessment; parallel manipulator; prostate transperineal intervention.

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Conflict of interest statement

Hata's interests were reviewed and are managed by the Brigham and Women's Hospital and Partners HealthCare in accordance with their conflict of interest policies.

Figures

Figure 1
Figure 1
Parallel manipulator prototype: conceptual design (top) and current implementation without the protection cover (bottom).
Figure 2
Figure 2
Kinematic diagram of the manipulator to correlate the movement of sliders to the needle's tip motion.
Figure 3
Figure 3
Front trapezoid stage (frontal planar view): a1 = 124 mm, b = 84 mm, h1 = 12 mm, h2 = 25 mm.
Figure 4
Figure 4
Front and rear stages and the centers of rotation for each corresponding stage (Oxf, Oyf ) and (Oxr, Oyr ).
Figure 5
Figure 5
3D (left) and 2D (right) analytical robot workspace.
Figure 6
Figure 6
Needle's tip, robot, z-frame and scanner coordinates and their associated transformations.
Figure 7
Figure 7
Architecture diagram of the actuation system.
Figure 8
Figure 8
Actuation functionality diagram.
Figure 9
Figure 9
LEDs and photodiodes layout on the robot base.
Figure 10
Figure 10
Testing backlash for each individual slider with a 3-digit dial indicator.
Figure 11
Figure 11
Experimental setup with the reference rigid body and the Optotrak system.
Figure 12
Figure 12
Experimental setup for the MRI compatibility test in the 3.0 T MRI scanner. Phantom, baseline, legrests, robot, controller, and foot pedal.
Figure 13
Figure 13
Phantom image from the SNR test under different conditions.
Figure 14
Figure 14
SNR results for different states: 1) Baseline; 2) With leg supports; 3) With robot; 4) Controller (not powered); 5) Controller (powered, E-stop ON); 6) Controller (powered, E-stop OFF); 7) During motion.
Figure 15
Figure 15
Volunteer-manipulator compatibility inside the 3.0 T MRI scanner (70 cm bore).
Figure 16
Figure 16
Robot placed on the MRI scanner board in interaction with the patient (as a volunteer herein).
See this image and copyright information in PMC

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