Inverse Kinematic and Control Architecture of a Slave Manipulator for MR-Guided Brain Biopsy

In this paper, the inverse kinematic and control paradigm of a novel tele-robotic system for MRI-guided interventions for closed-bore MRI-guided brain biopsy is presented. Other candidate neurosurgical procedures enabled by this system would include thermal ablation, radiofrequency ablation, deep brain stimulators, and targeted drug delivery. The control architecture is also reported. The design paradigm is fundamentally based on a modular design configuration of the slave manipulator that is performing tasks inside MR scanner. The tele-robotic system is a master-slave system. The master manipulator consists of three units including: (i) the navigation module; (ii) the biopsy module; and (iii) the surgical arm. Navigation and biopsy modules were designed to undertake the alignment and advancement of the surgical needle respectively. The biopsy needle is held and advanced by the biopsy module. The biopsy module is attached to the navigation module. All three units are held by a surgical arm. The main challenge in the control of the biopsy needle using the proposed navigation module is to adjust a surgical tool from its initial position and orientation to a final position and orientation. In a typical brain biopsy operation, the desired task is to align the biopsy needle with a target knowing the positions of both the target in the patient’s skull and the entry point on the surface of the skull. In this paper, the mechanical design, control paradigms, and inverse kinematics model of the robot are reported.

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Design and Control of a Novel Hydraulically/Pneumatically Actuated Robotic System for MRI-Guided Neurosurgery

Journal of Biomedical Science and Engineering ◽

10.4236/jbise.2008.11011 ◽

2008 ◽

Vol 01 (01) ◽

pp. 68-74 ◽

Cited By ~ 5

Author(s):

Cyrus Raoufi ◽

Andrew A. Goldenberg ◽

Walter Kucharczyk

Keyword(s):

Robotic System ◽

Mri Guided ◽

And Control

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System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy

Journal of Medical Robotics Research ◽

10.1142/s2424905x19500016 ◽

2019 ◽

Vol 04 (02) ◽

pp. 1950001 ◽

Cited By ~ 8

Author(s):

Niravkumar A. Patel ◽

Gang Li ◽

Weijian Shang ◽

Marek Wartenberg ◽

Tamas Heffter ◽

...

Keyword(s):

Clinical Study ◽

Prostate Biopsy ◽

Modular Design ◽

Surgical Navigation ◽

Robotic System ◽

Clinical Workflow ◽

Preclinical Evaluation ◽

Transperineal Prostate Biopsy ◽

Patient Consent ◽

Mri Guided

This paper presents the development, preclinical evaluation, and preliminary clinical study of a robotic system for targeted transperineal prostate biopsy under direct interventional magnetic resonance imaging (MRI) guidance. The clinically integrated robotic system is developed based on a modular design approach, comprised of surgical navigation application, robot control software, MRI robot controller hardware, and robotic needle placement manipulator. The system provides enabling technologies for MRI-guided procedures. It can be easily transported and setup for supporting the clinical workflow of interventional procedures, and the system is readily extensible and reconfigurable to other clinical applications. Preclinical evaluation of the system is performed with phantom studies in a 3 Tesla MRI scanner, rehearsing the proposed clinical workflow, and demonstrating an in-plane targeting error of 1.5[Formula: see text]mm. The robotic system has been approved by the institutional review board (IRB) for clinical trials. A preliminary clinical study is conducted with the patient consent, demonstrating the targeting errors at two biopsy target sites to be 4.0[Formula: see text]mm and 3.7[Formula: see text]mm, which is sufficient to target a clinically significant tumor foci. First-in-human trials to evaluate the system’s effectiveness and accuracy for MR image-guided prostate biopsy are underway.

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Kinematic of the Position and Orientation Synchronization of the Posture of a n DoF Upper-Limb Exoskeleton with a Virtual Object in an Immersive Virtual Reality Environment

Electronics ◽

10.3390/electronics10091069 ◽

2021 ◽

Vol 10 (9) ◽

pp. 1069

Author(s):

Deyby Huamanchahua ◽

Adriana Vargas-Martinez ◽

Ricardo Ramirez-Mendoza

Keyword(s):

Virtual Reality ◽

Upper Limb ◽

Human Performance ◽

Early Stage ◽

Inverse Kinematic ◽

Virtual Object ◽

Immersive Virtual Reality ◽

Virtual Reality Environment ◽

Upper Limb Exoskeleton ◽

Position And Orientation

Exoskeletons are an external structural mechanism with joints and links that work in tandem with the user, which increases, reinforces, or restores human performance. Virtual Reality can be used to produce environments, in which the intensity of practice and feedback on performance can be manipulated to provide tailored motor training. Will it be possible to combine both technologies and have them synchronized to reach better performance? This paper consists of the kinematics analysis for the position and orientation synchronization between an n DoF upper-limb exoskeleton pose and a projected object in an immersive virtual reality environment using a VR headset. To achieve this goal, the exoskeletal mechanism is analyzed using Euler angles and the Pieper technique to obtain the equations that lead to its orientation, forward, and inverse kinematic models. This paper extends the author’s previous work by using an early stage upper-limb exoskeleton prototype for the synchronization process.

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Development of a Virtual Reality Simulator for an Intelligent Robotic System Used in Ankle Rehabilitation

Sensors ◽

10.3390/s21041537 ◽

2021 ◽

Vol 21 (4) ◽

pp. 1537

Author(s):

Florin Covaciu ◽

Adrian Pisla ◽

Anca-Elena Iordan

Keyword(s):

Virtual Reality ◽

Muscle Activity ◽

Human Subject ◽

Robotic System ◽

Virtual Reality Simulator ◽

Robotic Rehabilitation ◽

Rehabilitation Process ◽

Leg Muscles ◽

Ankle Rehabilitation ◽

And Control

The traditional systems used in the physiotherapy rehabilitation process are evolving towards more advanced systems that use virtual reality (VR) environments so that the patient in the rehabilitation process can perform various exercises in an interactive way, thus improving the patient’s motivation and reducing the therapist’s work. The paper presents a VR simulator for an intelligent robotic system of physiotherapeutic rehabilitation of the ankle of a person who has had a stroke. This simulator can interact with a real human subject by attaching a sensor that contains a gyroscope and accelerometer to identify the position and acceleration of foot movement on three axes. An electromyography (EMG) sensor is also attached to the patient’s leg muscles to measure muscle activity because a patient who is in a worse condition has weaker muscle activity. The data collected from the sensors are taken by an intelligent module that uses machine learning to create new levels of exercise and control of the robotic rehabilitation structure of the virtual environment. Starting from these objectives, the virtual reality simulator created will have a low dependence on the therapist, this being the main improvement over other simulators already created for this purpose.

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A Novel Vertical Lift Machine and its Precise Pose Control

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.989-994.3105 ◽

2014 ◽

Vol 989-994 ◽

pp. 3105-3109

Author(s):

Xiao Bo Liu ◽

Xiao Feng Wei ◽

Xiao Dong Yuan ◽

Wei Ni

Keyword(s):

Control System ◽

Theoretical Analysis ◽

Control Method ◽

High Accuracy ◽

Inverse Kinematic ◽

Design Model ◽

Pose Control ◽

Vertical Lift ◽

Position And Orientation ◽

Control Principle

This paper deals with the design and theoretical analysis on a novel vertical lift machine which can vertically lift above 700 kg load up to 3.2 meters above the floor and located the load with high accuracy of position and orientation. Firstly the design model based on the installment demands of line-replaceable units (LRUs) is constructed. Then theoretical analysis including the number of degree of freedom of the lift machine, the inverse kinematic, the control principle, the lift platform pose error and the precise pose control method are conducted in the article. The validity of the design model and the effectiveness of the precise pose control system are confirmed by experiments using a prototype lift machine.

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MRI-Guided Breast Biopsy:Clinical Experience with 14-Gauge Stainless Steel Core Biopsy Needle

American Journal of Roentgenology ◽

10.2214/ajr.182.4.1821075 ◽

2004 ◽

Vol 182 (4) ◽

pp. 1075-1080 ◽

Cited By ~ 45

Author(s):

Xiaoming Chen ◽

Constance D. Lehman ◽

Katherine E. Dee

Keyword(s):

Stainless Steel ◽

Core Biopsy ◽

Biopsy Needle ◽

Steel Core ◽

Mri Guided ◽

Gauge Stainless Steel

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Motion planning and control of a robotic system for orthodontic archwire bending

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ◽

10.1109/iros.2015.7353899 ◽

2015 ◽

Author(s):

Hao Deng ◽

Zeyang Xia ◽

Shaokui Weng ◽

Yangzhou Gan ◽

Jing Xiong ◽

...

Keyword(s):

Motion Planning ◽

Robotic System ◽

Planning And Control ◽

And Control

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Development of a Master-Slave Robotic System for MRI-Guided Intracardiac Interventions

Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems ◽

10.1115/dscc2013-3936 ◽

2013 ◽

Cited By ~ 1

Author(s):

Amirhossein Salimi ◽

Amin Ramezanifar ◽

Javad Mohammadpour ◽

Karolos M. Grogoriadis

Keyword(s):

Magnetic Resonance Imaging ◽

Pid Control ◽

Control Design ◽

Robotic System ◽

Experimental Setup ◽

Resonance Imaging ◽

Parallel Platform ◽

Mri Guided ◽

Magnetic Resonance Imaging Mri ◽

Reference Trajectories

Restricted space inside the magnetic resonance imaging (MRI) scanner bore prevents surgeons to directly interact with the patient during MRI-guided procedures. This motivates the development of a robotic system that can act as an interface during those interventions. In this paper, we present a master-slave robotic system as a solution to the aforedescribed issue. The proposed system consists of a commercial PHANTOM device (product of The Sensable Technologies) as the master robot and an MRI-compatible patient-mounted parallel platform (that we name ROBOCATH) designed to serve as the slave mechanism inside the scanner bore. We present in this paper the design principles for the platform, as well as the PID control design for the system. We use our experimental setup to evaluate the performance of the system by examining the effectiveness of the slave platform in tracking the reference trajectories generated by the master robot.

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Alternative Inverse Kinematic Equations for General RRP and RRR Regional Structures of Manipulators

Volume 2A: 24th Biennial Mechanisms Conference ◽

10.1115/96-detc/mech-1009 ◽

1996 ◽

Author(s):

Peregrine E. J. Riley

Keyword(s):

Degrees Of Freedom ◽

Joint Angle ◽

Inverse Kinematic ◽

Intersection Point ◽

Degree Polynomial ◽

Six Degrees Of Freedom ◽

Common Intersection ◽

Position And Orientation ◽

Spatial Positioning ◽

Orientational Structure

Abstract Many manipulators with six degrees of freedom are constructed with two distinct sections, a regional structure for spatial positioning, and an orientational structure having a common intersection point for the joint axes. With this arrangement, inverse kinematic solutions for position and orientation may be found separately. While solutions for general three link manipulators have been available since the work of Pieper in 1969, this paper presents new forms of the inverse kinematic equations for general RRP and RRR regional structures. Cartesian coordinates of the F-surface (generated by movement of the outer two joints) together with the outer joint angle are used as the equation variables. In addition, a second degree polynomial approxiamation of the equation may be used for quick iteration to a solution. It is hoped that these new equations will be useful by themselves and in workspace regions where solutions using equations in terms of the joint variables are numerically inaccurate or impossible.

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