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Article: Design of a Percutaneous MRI-guided Needle Robot with Soft Fluid-driven Actuator

TitleDesign of a Percutaneous MRI-guided Needle Robot with Soft Fluid-driven Actuator
Authors
KeywordsNeedles
Robots
Magnetic resonance imaging
Tumors
Surgery
Issue Date2020
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE
Citation
IEEE Robotics and Automation Letters, 2020, v. 5 n. 2, p. 2100-2107 How to Cite?
AbstractPercutaneous ablation is a standard therapy for most cases of hepatocellular carcinoma (HCC), which is a general type of primary liver cancer. Magnetic resonance imaging (MRI) offers high-contrast images of soft tissue to monitor the ablation procedure. However, the success of MRI-guided ablation still depends on precise intra-tumor probe placement and skin insertion positioning, both of which require highly experienced operators, and can induce inter-operator variability in ablation results. In this letter, we present a semi-automated robotic system for MRI-guided percutaneous needle procedures. The compact and lightweight design enables the direct fixture of robot on the patient body and simultaneous needle targeting at multiple locations with several robots. Accurate (0.89 ± 0.31 mm) needle navigation is achieved by incorporating soft fluid-driven actuators with feedback control and stiffness modulation capabilities. The 3D location of the needle guide is reconfirmed by wireless MR tracking coils. The performance of the robotic platform, such as stiffness, needle positioning accuracy and frequency response was experimentally evaluated. Negligible interference to MR imaging was also validated by an MR compatibility test.
Persistent Identifierhttp://hdl.handle.net/10722/282913
ISSN
2019 Impact Factor: 3.608

 

DC FieldValueLanguage
dc.contributor.authorHE, Z-
dc.contributor.authorDONG, Z-
dc.contributor.authorFANG, G-
dc.contributor.authorHO, JDL-
dc.contributor.authorCHEUNG, CL-
dc.contributor.authorChang, HC-
dc.contributor.authorCHONG, CCN-
dc.contributor.authorCHAN, JYK-
dc.contributor.authorCHAN, DTM-
dc.contributor.authorKwok, KW-
dc.date.accessioned2020-06-05T06:23:00Z-
dc.date.available2020-06-05T06:23:00Z-
dc.date.issued2020-
dc.identifier.citationIEEE Robotics and Automation Letters, 2020, v. 5 n. 2, p. 2100-2107-
dc.identifier.issn2377-3766-
dc.identifier.urihttp://hdl.handle.net/10722/282913-
dc.description.abstractPercutaneous ablation is a standard therapy for most cases of hepatocellular carcinoma (HCC), which is a general type of primary liver cancer. Magnetic resonance imaging (MRI) offers high-contrast images of soft tissue to monitor the ablation procedure. However, the success of MRI-guided ablation still depends on precise intra-tumor probe placement and skin insertion positioning, both of which require highly experienced operators, and can induce inter-operator variability in ablation results. In this letter, we present a semi-automated robotic system for MRI-guided percutaneous needle procedures. The compact and lightweight design enables the direct fixture of robot on the patient body and simultaneous needle targeting at multiple locations with several robots. Accurate (0.89 ± 0.31 mm) needle navigation is achieved by incorporating soft fluid-driven actuators with feedback control and stiffness modulation capabilities. The 3D location of the needle guide is reconfirmed by wireless MR tracking coils. The performance of the robotic platform, such as stiffness, needle positioning accuracy and frequency response was experimentally evaluated. Negligible interference to MR imaging was also validated by an MR compatibility test.-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE-
dc.relation.ispartofIEEE Robotics and Automation Letters-
dc.rightsIEEE Robotics and Automation Letters. Copyright © Institute of Electrical and Electronics Engineers.-
dc.rights©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectNeedles-
dc.subjectRobots-
dc.subjectMagnetic resonance imaging-
dc.subjectTumors-
dc.subjectSurgery-
dc.titleDesign of a Percutaneous MRI-guided Needle Robot with Soft Fluid-driven Actuator-
dc.typeArticle-
dc.identifier.emailChang, HC: hcchang@hku.hk-
dc.identifier.emailKwok, KW: kwokkw@hku.hk-
dc.identifier.authorityChang, HC=rp02024-
dc.identifier.authorityKwok, KW=rp01924-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/LRA.2020.2969929-
dc.identifier.scopuseid_2-s2.0-85080933751-
dc.identifier.hkuros310283-
dc.identifier.hkuros310164-
dc.identifier.volume5-
dc.identifier.issue2-
dc.identifier.spage2100-
dc.identifier.epage2107-
dc.publisher.placeUnited States-

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