scholarly journals Body-Mounted Robotic System for MRI-Guided Shoulder Arthrography: Cadaver and Clinical Workflow Studies

2021 ◽  
Vol 8 ◽  
Author(s):  
Niravkumar Patel ◽  
Jiawen Yan ◽  
Gang Li ◽  
Reza Monfaredi ◽  
Lukasz Priba ◽  
...  
Keyword(s):  
Shoulder Joint ◽  
Joint Space ◽  
Needle Insertion ◽  
Cadaver Study ◽  
Single Step ◽  
Robotic System ◽  
Clinical Workflow ◽  
Shoulder Arthrography ◽  
Mr Conditional ◽  
Mri Guided

This paper presents an intraoperative MRI-guided, patient-mounted robotic system for shoulder arthrography procedures in pediatric patients. The robot is designed to be compact and lightweight and is constructed with nonmagnetic materials for MRI safety. Our goal is to transform the current two-step arthrography procedure (CT/x-ray-guided needle insertion followed by diagnostic MRI) into a streamlined single-step ionizing radiation-free procedure under MRI guidance. The MR-conditional robot was evaluated in a Thiel embalmed cadaver study and healthy volunteer studies. The robot was attached to the shoulder using straps and ten locations in the shoulder joint space were selected as targets. For the first target, contrast agent (saline) was injected to complete the clinical workflow. After each targeting attempt, a confirmation scan was acquired to analyze the needle placement accuracy. During the volunteer studies, a more comfortable and ergonomic shoulder brace was used, and the complete clinical workflow was followed to measure the total procedure time. In the cadaver study, the needle was successfully placed in the shoulder joint space in all the targeting attempts with translational and rotational accuracy of 2.07 ± 1.22 mm and 1.46 ± 1.06 degrees, respectively. The total time for the entire procedure was 94 min and the average time for each targeting attempt was 20 min in the cadaver study, while the average time for the entire workflow for the volunteer studies was 36 min. No image quality degradation due to the presence of the robot was detected. This Thiel-embalmed cadaver study along with the clinical workflow studies on human volunteers demonstrated the feasibility of using an MR-conditional, patient-mounted robotic system for MRI-guided shoulder arthrography procedure. Future work will be focused on moving the technology to clinical practice.

Robotic system for MRI-guided shoulder arthrography: Accuracy evaluation

2018 ◽  
Author(s):  
Niravkumar A. Patel ◽  
Ehsan Azimi ◽  
Reza Monfaredi ◽  
Karun Sharma ◽  
Kevin Cleary ◽  
...  
Keyword(s):  
Robotic System ◽  
Accuracy Evaluation ◽  
Shoulder Arthrography ◽  
Mri Guided

scholarly journals Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study

2011 ◽  
Vol 7 (2) ◽  
pp. 181-190 ◽  
Author(s):  
Reza Seifabadi ◽  
Sang-Eun Song ◽  
Axel Krieger ◽  
Nathan Bongjoon Cho ◽  
Junichi Tokuda ◽  
...  
Keyword(s):  
Prostate Biopsy ◽  
Ex Vivo ◽  
Needle Insertion ◽  
Robotic System ◽  
Phantom Study ◽  
Mri Guided

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

2019 ◽  
Vol 04 (02) ◽  
pp. 1950001 ◽  
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.

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

2013 ◽  
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.

scholarly journals An Integrated Robotic System for MRI-Guided Neuroablation: Preclinical Evaluation

2020 ◽  
Vol 67 (10) ◽  
pp. 2990-2999
Author(s):  
Niravkumar A. Patel ◽  
Christopher J. Nycz ◽  
Paulo A. Carvalho ◽  
Katie Y. Gandomi ◽  
Radian Gondokaryono ◽  
...  
Keyword(s):  
Robotic System ◽  
Preclinical Evaluation ◽  
Mri Guided

Single-step formulation of levodopa-based nanotheranostics – strategy for ultra-sensitive high longitudinal relaxivity MRI guided switchable therapeutics

2020 ◽  
Vol 8 (6) ◽  
pp. 1615-1621
Author(s):  
Dan Tian ◽  
Hongxia Xu ◽  
Bing Xiao ◽  
Xiaoxuan Zhou ◽  
Xiangrui Liu ◽  
...  
Keyword(s):  
Photothermal Therapy ◽  
Single Step ◽  
Tumor Ablation ◽  
One Pot ◽  
Mri Contrast ◽  
Longitudinal Relaxivity ◽  
Mri Guided ◽  
The One ◽  
Complete Tumor

The one-pot synthesized nanotheranostic agent T-SWITCH showed high MRI contrast efficiency (r1 = 61.94 mM−1 s−1) and complete tumor ablation after photothermal therapy.

scholarly journals A Robotic System for Real-Time Tumor Manipulation During Image Guided Breast Biopsy

2008 ◽  
Vol 2 (2) ◽  
Author(s):  
Vishnu G. Mallapragada ◽  
Nilanjan Sarkar ◽  
Tarun K. Podder
Keyword(s):  
Real Time ◽  
External Force ◽  
Breast Biopsy ◽  
Imaging Techniques ◽  
Needle Insertion ◽  
Robotic System ◽  
Original Position ◽  
Tissue Specimen ◽  
Image Processing Algorithm ◽  
Probe Orientation

Breast biopsy guided by imaging techniques is widely used to evaluate suspicious masses within the breast. Current procedure allows the physician to determine location and extent of a tumor in the patient breast before inserting the needle. There are several problems with this procedure: Complex interaction dynamics between needle and breast tissue will likely displace the tumor from its original position necessitating multiple insertions, causing surgeons’ fatigue, patient’s discomfort, and compromising integrity of the tissue specimen. We present a new concept for real-time manipulation of a tumor using a robotic system that monitors the image of the tumor to generate appropriate external force to position the tumor at a desired location. The objective is to demonstrate that it is possible to manipulate a tumor in real-time by applying controlled external force in an automated way such that the tumor does not deviate from the path of the needle. We have demonstrated efficacy of this approach on breast phantoms. The robotic system consists of an ultrasound probe for image acquisition, a guiding mechanism for automatic probe orientation, image processing algorithm for extracting tumor position and PID (proportional-integral-derivative) controlled actuators for tumor manipulation. We have successfully tested this system for accessing mobile lesions during multiple needle insertion trials. This approach has the potential to reduce the number of attempts a surgeon makes to capture the desired tissue specimen, minimize tissue damage, improve speed of biopsy, and reduce patient discomfort.

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

2008 ◽  
Author(s):  
C. Raoufi ◽  
A. A. Goldenberg ◽  
W. Kucharczyk ◽  
H. Hadian
Keyword(s):  
Modular Design ◽  
Brain Biopsy ◽  
Inverse Kinematic ◽  
Robotic System ◽  
Control Architecture ◽  
Neurosurgical Procedures ◽  
Biopsy Needle ◽  
Mri Guided ◽  
Position And Orientation ◽  
And Control

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.

Sign in / Sign up

Export Citation Format

Share Document