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Towards Clinically Optimized MRI-guided Surgical Manipulator for Minimally Invasive Prostate Percutaneous
Sohrab Eslami1, Gregory S Fischer2, Sang-Eun Song3
1Laboratory for Computational Sensing and Robotics (LCSR) at the Johns Hopkins University, Baltimore, MD, USA.
IEEE International Conference on Robotics and Automation : ICRA : [Proceedings]. IEEE International Conference on Robotics and Automation
|April 1, 2014
Summary
This study presents a new MRI-compatible surgical robot for prostate cancer interventions like biopsy and brachytherapy. The design optimizes needle insertion and ensures minimal deformation for enhanced clinical accuracy.
Area of Science:
- Medical Robotics
- Surgical Navigation
- Biomedical Engineering
Background:
- Minimally invasive prostate interventions require precise instrument guidance.
- Existing systems face challenges with MRI compatibility and workspace limitations.
- Prostate biopsy and brachytherapy demand high accuracy and safety.
Purpose of the Study:
- To design and develop a modular, MRI-compatible surgical manipulator for transperineal prostate interventions.
- To optimize manipulator kinematics and define the needle workspace for accurate insertion.
- To ensure structural integrity and minimize deformation under operational forces.
Main Methods:
- Modular design principles applied to a robotic manipulator.
- Kinematic optimization and analytical workspace development.
- Finite element analysis for structural integrity assessment.
- Workflow for manual needle insertion and sterile drape attachment.
Main Results:
- A functional MRI-compatible surgical manipulator was developed.
- Optimized kinematics and defined workspace enhance needle trajectory planning.
- Finite element analysis identified and mitigated potential mechanism weaknesses.
- A procedure for sterile drape attachment was established.
Conclusions:
- The developed robotic manipulator is suitable for MRI-guided transperineal prostate biopsy and brachytherapy.
- The design addresses MRI compatibility constraints and ensures mechanical stability.
- This system offers a promising solution for improving precision in prostate interventions.
