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Towards a Meso-Scale SMA-Actuated MRI-Compatible Neurosurgical Robot
Mingyen Ho1, Alan McMillan, J Marc Simard
1with the Robotics, Automation, and Medical Systems (RAMS) Laboratory, Department of Mechanical Engineering, University of Maryland, College Park, MD 20742 USA; with the Maryland Robotics Center, Institute for Systems Research, University of Maryland, College Park, MD 20742 USA myho@umd.edu.
IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society
|January 24, 2012
Summary
Researchers developed a novel MRI-compatible neurosurgical robot using shape memory alloy (SMA) wires. This robot can access difficult-to-reach brain tumor regions, improving surgical precision and patient outcomes.
Area of Science:
- Neurosurgery
- Robotics
- Biomedical Engineering
Background:
- Brain tumors pose significant treatment challenges due to limited imaging and complete tumor removal difficulties.
- Accessing regions outside the surgeon's direct line-of-sight is crucial for effective tumor resection.
- Existing neurosurgical tools lack the dexterity and MRI compatibility required for advanced procedures.
Purpose of the Study:
- To develop a highly dexterous and MRI-compatible robot for neurosurgery.
- To enable surgeons to access and operate in regions outside their direct line-of-sight.
- To overcome limitations in current neurosurgical interventions for brain tumors.
Main Methods:
- Utilized antagonistic shape memory alloy (SMA) wires as actuators for robot joint control.
- Developed a theoretical model based on Tanaka's model to correlate SMA wire temperature with joint motion.
- Implemented a Pulse Width Modulation (PWM) scheme and switching circuit for precise temperature control of multiple SMA wires.
Main Results:
- Demonstrated reliable prediction of robot joint motion based on SMA wire temperature.
- Successfully actuated the robot and observed joint motion within a gelatin medium.
- Confirmed the robot's full MRI compatibility with no significant image distortion in MR images.
Conclusions:
- The developed MRI-compatible neurosurgical robot shows promise for enhanced brain tumor removal.
- SMA wire temperature feedback provides a reliable method for controlling robot joint motion.
- This robotic system offers a potential solution for accessing challenging neurosurgical targets.
