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Design and Motion Control of a Four Degree of Freedom Robotic Needle Guide for MRI-Guided Intervention

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Date Issued:
2018
Abstract/Description:
In the past several MRI compatible robotic needle guide devices for targeted prostate biopsy have been developed. The large and complex structure have been identified as the major limitations of those devices. Such limitations, in addition to complex steps for device to image registration have prevented widespread implementation of MRI-guided prostate biopsy despite the advantages of MRI compared to TRUS. We have designed a compact MRI-guided robotic intervention with the capability to have angulated insertion to avoid damage to any anatomical feature along the needle path. The system consists of a novel mechanism driven Robotic Needle Guide (RNG). The RNG is a 4-DOF robotic needle manipulator mounted on a Gross Positioning Module (GPM), which is locked on the MRI table. The RNG consists of four parallel stacked disks with an engraved profile path. The rotary motion and positioning of the discs at an angle aids in guiding the biopsy needle. Once a clinician selects a target for needle insertion, the intervention provides possible insertion angles. Then, the most suitable angle is selected by the clinician based on the safest trajectory. The selected target and insertion angle are then computed as control parameters of RNG i.e. the discs are then rotated to the required angle. Insertion is followed by quick confirmation scans to ascertain needle position at all times.
Title: Design and Motion Control of a Four Degree of Freedom Robotic Needle Guide for MRI-Guided Intervention.
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Name(s): Zhang, Shihao, Author
Song, Sang-Eun, Committee Chair
Xu, Yunjun, Committee CoChair
Bagci, Ulas, Committee Member
University of Central Florida, Degree Grantor
Type of Resource: text
Date Issued: 2018
Publisher: University of Central Florida
Language(s): English
Abstract/Description: In the past several MRI compatible robotic needle guide devices for targeted prostate biopsy have been developed. The large and complex structure have been identified as the major limitations of those devices. Such limitations, in addition to complex steps for device to image registration have prevented widespread implementation of MRI-guided prostate biopsy despite the advantages of MRI compared to TRUS. We have designed a compact MRI-guided robotic intervention with the capability to have angulated insertion to avoid damage to any anatomical feature along the needle path. The system consists of a novel mechanism driven Robotic Needle Guide (RNG). The RNG is a 4-DOF robotic needle manipulator mounted on a Gross Positioning Module (GPM), which is locked on the MRI table. The RNG consists of four parallel stacked disks with an engraved profile path. The rotary motion and positioning of the discs at an angle aids in guiding the biopsy needle. Once a clinician selects a target for needle insertion, the intervention provides possible insertion angles. Then, the most suitable angle is selected by the clinician based on the safest trajectory. The selected target and insertion angle are then computed as control parameters of RNG i.e. the discs are then rotated to the required angle. Insertion is followed by quick confirmation scans to ascertain needle position at all times.
Identifier: CFE0007116 (IID), ucf:51942 (fedora)
Note(s): 2018-05-01
M.S.M.E.
Engineering and Computer Science, Mechanical and Aerospace Engineering
Masters
This record was generated from author submitted information.
Subject(s): MRI Intervention -- Robotic System -- Biopsy Needle Guide -- MRI Compatible -- Motion Simulation
Persistent Link to This Record: http://purl.flvc.org/ucf/fd/CFE0007116
Restrictions on Access: public 2018-05-15
Host Institution: UCF

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