In-bore prostate transperineal interventions with an MRI-guided parallel manipulator: system development and preliminary evaluation.
In-bore prostate transperineal interventions with an MRI-guided parallel manipulator: system development and preliminary evaluation.
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DOI：
10.1002/rcs.1671
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发表时间：
2016-06
期刊：
影响因子：
--
通讯作者：
Iordachita I
中科院分区：
文献类型：
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作者：
Eslami S;Shang W;Li G;Patel N;Fischer GS;Tokuda J;Hata N;Tempany CM;Iordachita I
机器人辅助微创手术被公认为人类前列腺癌诊断和治疗的可行解决方案。本文介绍了并行 4 自由度 (DOF) 手术操纵器的运动学，该操纵器设计用于通过患者会阴进行微创孔内前列腺经皮介入治疗。所提出的操纵器利用了由 MRI 兼容压电电机和增量旋转编码器驱动的 4 个滑块。在将机器人部署到临床试验之前，需要识别并减少错误，这些错误主要源于设计和制造过程。该机械手经过多次实验来评估针放置的可重复性和准确性，这是经皮前列腺介入治疗中的一个重要问题。获得的结果证实了机械手的可持续性、精度（针参考点在空气中（x 或 y 方向）约 1 毫米）和可靠性。
The robot-assisted minimally-invasive surgery is well recognized as a feasible solution for diagnosis and treatment of the prostate cancer in human. In this paper 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 4 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 the clinical trials. The manipulator has undergone several experiments to evaluate the repeatability and accuracy of the needle placement which is an essential concern in percutaneous prostate interventions. The acquired results endorse the sustainability, precision (about 1 mm in air (in x or y direction) at the needle's reference point) and reliability of the manipulator.