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Article: Compact Design of a Hydraulic Driving Robot for Intra-operative MRI-guided Bilateral Stereotactic Neurosurgery

TitleCompact Design of a Hydraulic Driving Robot for Intra-operative MRI-guided Bilateral Stereotactic Neurosurgery
Authors
Issue Date2018
Citation
IEEE Robotics and Automation Letters, 2018, v. 3, p. 2515-2522 How to Cite?
AbstractIn this letter, we present an intraoperative magnetic resonance imaging (MRI)-guided robot for bilateral stereotactic procedures. Its compact design enables robot's operation within the constrained space of standard imaging head coil. magnetic resonance (MR) safe and high-performance hydraulic transmissions are incorporated. A maximum stiffness coefficient of 24.35 N/mm can be achieved with transmission fluid preloaded at 2 bar. Sufficient targeting accuracy (average within ≤1.73 mm) has been demonstrated in a simulated needle insertion task of deep brain stimulation. A novel MR-based wireless tracking technique is adopted. It is capable of offering real-time and continuous (30-40 Hz) three-dimensional (3-D) localization of robotic instrument under the proper MR tracking sequence. It outperforms the conventional method of using low-contrast passive fiducials that can only be revealed in the MR image domain. Two wireless tracking units/markers are integrated with the robot, which are two miniaturized coil circuits in size of 1.5 × 5 × 0.2 mm3, fabricated on flexible thin films. A navigation test was performed under the standard MRI settings in order to visualize the 3-D localization of the robotic instrument. MRI compatibility test was also carried out to prove the minimal interference to MR images of the presented hydraulic robotic platform.
Persistent Identifierhttp://hdl.handle.net/10722/253554

 

DC FieldValueLanguage
dc.contributor.authorGUO, Z-
dc.contributor.authorDONG, Z-
dc.contributor.authorLEE, KH-
dc.contributor.authorCHEUNG, CL-
dc.contributor.authorFU, HC-
dc.contributor.authorHO, JD-L-
dc.contributor.authorHe, H-
dc.contributor.authorPOON, WS-
dc.contributor.authorCHAN, DTM-
dc.contributor.authorKwok, KW-
dc.date.accessioned2018-05-21T02:59:31Z-
dc.date.available2018-05-21T02:59:31Z-
dc.date.issued2018-
dc.identifier.citationIEEE Robotics and Automation Letters, 2018, v. 3, p. 2515-2522-
dc.identifier.urihttp://hdl.handle.net/10722/253554-
dc.description.abstractIn this letter, we present an intraoperative magnetic resonance imaging (MRI)-guided robot for bilateral stereotactic procedures. Its compact design enables robot's operation within the constrained space of standard imaging head coil. magnetic resonance (MR) safe and high-performance hydraulic transmissions are incorporated. A maximum stiffness coefficient of 24.35 N/mm can be achieved with transmission fluid preloaded at 2 bar. Sufficient targeting accuracy (average within ≤1.73 mm) has been demonstrated in a simulated needle insertion task of deep brain stimulation. A novel MR-based wireless tracking technique is adopted. It is capable of offering real-time and continuous (30-40 Hz) three-dimensional (3-D) localization of robotic instrument under the proper MR tracking sequence. It outperforms the conventional method of using low-contrast passive fiducials that can only be revealed in the MR image domain. Two wireless tracking units/markers are integrated with the robot, which are two miniaturized coil circuits in size of 1.5 × 5 × 0.2 mm3, fabricated on flexible thin films. A navigation test was performed under the standard MRI settings in order to visualize the 3-D localization of the robotic instrument. MRI compatibility test was also carried out to prove the minimal interference to MR images of the presented hydraulic robotic platform.-
dc.languageeng-
dc.relation.ispartofIEEE Robotics and Automation Letters-
dc.titleCompact Design of a Hydraulic Driving Robot for Intra-operative MRI-guided Bilateral Stereotactic Neurosurgery-
dc.typeArticle-
dc.identifier.emailHe, H: hkhe0812@hku.hk-
dc.identifier.emailKwok, KW: kwokkw@hku.hk-
dc.identifier.authorityKwok, KW=rp01924-
dc.identifier.doi10.1109/LRA.2018.2814637-
dc.identifier.hkuros284999-
dc.identifier.volume3-
dc.identifier.spage2515-
dc.identifier.epage2522-

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