Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 4, Issue 4, Pages 3177-3183Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2019.2925558
Keywords
Haptics and haptic interfaces; medical robots and systems; telerobotics and teleoperation
Categories
Funding
- National Science Foundation's Cyber-Human Systems program [1617122, 1615891]
- Div Of Information & Intelligent Systems
- Direct For Computer & Info Scie & Enginr [1617122] Funding Source: National Science Foundation
- Div Of Information & Intelligent Systems
- Direct For Computer & Info Scie & Enginr [1615891] Funding Source: National Science Foundation
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Magnetic resonance imaging (MRI) is used for soft tissue pathology diagnosis and assistance with targeted lesion procedures. However, limited physician access to patients in the magnetic resonance scanner bore requires iterative positioning and imaging, which extends the procedure time and increases patient risk. We present a teleoperated system and instrumented testbed for robotic MRI-guided needle biopsy, particularly targeting transperineal prostate biopsies. The device has a 1:1 kinematic mapping and uses a low-friction hydrostatic transmission based on antagonistic pairs of rolling diaphragms. It has three degrees of freedom (DOFs) and a passive two-DOF swivel, which holds a biopsy needle at the end-effector. Measured force hysteresis is 0.085 N (single DOF) and 0.44 N (full three-DOF manipulator) at the needle driving point. To quantitatively assess the system's haptic qualities, impulse modal testing for one DOF (>300 Hz bandwidth) and three DOFs (>40 Hz bandwidth) was conducted. Task performance was also assessed through membrane puncture testing with tissue phantoms; puncture events as low as 0.1 N are reliably detectable from transmission hydraulic pressure sensors.
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