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In-bore prostate transperineal interventions with an MRI-guided parallel manipulator: system development and
Sohrab Eslami1, Weijian Shang2, Gang Li2
1Laboratory for Computational Sensing and Robotics (LCSR) at the Johns Hopkins University, Baltimore, MD, USA.
Summary
This study presents a 4 Degrees-of-Freedom (DOF) robot for minimally invasive prostate cancer surgery. The developed surgical manipulator demonstrates high precision and reliability for percutaneous interventions.
Area of Science:
- Robotics
- Surgical Technology
- Medical Devices
Background:
- Robot-assisted minimally-invasive surgery is a proven method for diagnosing and treating prostate cancer.
- Percutaneous interventions offer a minimally invasive approach for prostate procedures.
Purpose of the Study:
- To discuss the kinematics of a novel parallel 4 Degrees-of-Freedom (DOF) surgical manipulator.
- To address the identification and reduction of errors in the robot's design and manufacturing process prior to clinical trials.
Main Methods:
- The manipulator utilizes four sliders actuated by MRI-compatible piezoelectric motors.
- Incremental rotary encoders are employed for precise motion control.
- Kinematic analysis is performed to understand the manipulator's movement and capabilities.
Main Results:
- Experiments evaluated the manipulator's repeatability and accuracy for needle placement.
- The system achieved an accuracy of approximately 1 mm in the x or y direction at the needle's reference point.
- These results are critical for the success of percutaneous prostate interventions.
Conclusions:
- The developed surgical manipulator is sustainable, precise, and reliable.
- The findings support the potential of this robot for clinical application in prostate cancer treatment.
- Further validation in clinical trials is recommended.
