Towards a teleoperated needle driver robot with haptic feedback for RFA of breast tumors under continuous MRI.
Towards a teleoperated needle driver robot with haptic feedback for RFA of breast tumors under continuous MRI.
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DOI：
10.1016/j.media.2009.02.001
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发表时间：
2009-06
影响因子：
10.9
通讯作者：
Desai, Jaydev P.
中科院分区：
文献类型：
--
作者：
Kokes, Rebecca;Lister, Kevin;Gullapalli, Rao;Zhang, Bao;MacMillan, Alan;Richard, Howard;Desai, Jaydev P.
关键词：
本文的目的是探讨开发一种MRI兼容的针驱动器系统的可行性，用于在连续MRI成像下进行乳腺肿瘤射频消融（RFA），同时通过扫描室外部的触觉反馈设备进行远程操作。设计并测试了开发的针驱动器原型的肿瘤靶向能力和RFA。单自由度（DOF）的原型与PHANToM触觉设备连接，从扫描室外面控制。进行实验以证明MRI兼容性和液压驱动的位置控制精度，沿着实验以确定PHANToM在MRI内连续成像并接收来自RFA工具的力反馈的同时将RFA工具引导到体模乳腺组织模型内的肿瘤结节的能力。液压驱动被证明是一种可行的驱动技术，在MRI环境中的操作。除了垂直于运动方向的力感测外，该设计在所有方面都与MRI兼容。实验证实，当提供有视觉（成像）反馈和触觉反馈时，用户能够检测体模模型中的健康组织与癌组织。本文提出的遥控1-DOF针驱动器系统证明了实现MRI兼容机器人的可行性，用于具有触觉反馈能力的乳腺肿瘤RFA。
The purpose of this paper is to explore the feasibility of developing a MRI-compatible needle driver system for radiofrequency ablation (RFA) of breast tumors under continuous MRI imaging while being teleoperated by a haptic feedback device from outside the scanning room. The developed needle driver prototype was designed and tested for both tumor targeting capability as well as RFA. The single degree-of-freedom (DOF) prototype was interfaced with a PHANToM haptic device controlled from outside the scanning room. Experiments were performed to demonstrate MRI-compatibility and position control accuracy with hydraulic actuation, along with an experiment to determine the PHANToM’s ability to guide the RFA tool to a tumor nodule within a phantom breast tissue model while continuously imaging within the MRI and receiving force feedback from the RFA tool. Hydraulic actuation is shown to be a feasible actuation technique for operation in an MRI environment. The design is MRI-compatible in all aspects except for force sensing in the directions perpendicular to the direction of motion. Experiments confirm that the user is able to detect healthy vs. cancerous tissue in a phantom model when provided with both visual (imaging) feedback and haptic feedback. The teleoperated 1-DOF needle driver system presented in this paper demonstrates the feasibility of implementing a MRI-compatible robot for RFA of breast tumors with haptic feedback capability.
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影响因子：
6.7
作者：
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通讯作者：
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影响因子：
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作者：
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DOI：
10.1055/s-2000-12045
发表时间：
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