Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 26, Issue 1, Pages 255-266Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.3012903
Keywords
Robots; Magnetic resonance imaging; Coils; Ultrasonic imaging; Transducers; Acoustics; Image-guided therapy; magnetic resonance imaging (MRI) guided robot; robot-assisted neurosurgery; ultrasound thermal ablation
Categories
Funding
- National Cancer Institution (NCI) of the National Institutes of Health (NIH) [R01CA166379]
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This article presents the development of a fully actuated robotic assistant for precise ablation of brain tumors, providing high accuracy in positioning and orientation. The system has been successfully validated through phantom studies and ex-vivo tissue experiments, demonstrating its feasibility for clinical applications.
This article reports the development of a fully actuated robotic assistant for magnetic resonance imaging (MRI) guided precision conformal ablation of brain tumors using an interstitial high-intensity needle-based therapeutic ultrasound ablator probe. The robot is designed with an eight degree-of-freedom (8-DOF) remote center of motion manipulator driven by piezoelectric actuators, five for aligning the ultrasound thermal ablator to the target lesions, and three for inserting and orienting the ablator and its cannula to generate a desired ablation profile. The 8-DOF fully actuated robot can be operated in the scanner bore during imaging; thus, alleviating the need for moving the patient in or out of the scanner during the procedure, and therefore potentially reducing the procedure time and streamlining the workflow. The free space positioning accuracy of the system is evaluated with the OptiTrack motion capture system, demonstrating the root-mean-square (RMS) error of the tip position to be 1.11 +/- 0.43 mm. The system targeting accuracy in MRI is assessed with phantom studies, indicating the RMS errors of the tip position to be 1.45 +/- 0.66 mm and orientation to be 1.53 +/- 0.69 degrees. The feasibility of the system to perform thermal ablation is validated through a preliminary ex-vivo tissue study with position error less than 4.3 mm and orientation error less than 4.3 degrees.
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