Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.
Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.
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DOI：
10.1109/iros.2013.6696942
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Fischer GS
中科院分区：
文献类型：
--
作者：
Shang W;Su H;Li G;Fischer GS
本文介绍了一种在连续磁共振成像(MRI)引导下用于经皮介入手术的主从式遥操作系统。该系统由一个压电驱动的从机器人和集成的光纤力传感器组成，该传感器采用法布里-珀罗涉(FPI)传感原理。对传感器挠度进行了优化，并将其嵌入到从机器人中进行插针测力。在核磁共振机器人控制系统中集成了一种新颖、紧凑的光机式FPI传感器接口。通过利用气动和压电驱动的互补特性，还开发了一种气动触觉主控机器人，将与针头放置干预相关的力提供给临床医生。实现了铝制称重传感器，并对其进行了标定，使主机器人的阻抗控制回路闭合。提出了一种力-位置控制算法来控制该混合驱动系统。远程操作的针头插入是在实时磁共振成像下演示的，其中从属机器人驻留在扫描仪孔内，用户在孔外的患者旁边操纵主机。给出了主从式机器人的力和位置跟踪结果，验证了集成系统的跟踪性能。其位置跟踪误差为0.318 mm，正弦波力跟踪误差为2.227N。
This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.