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An MRI-Guided Telesurgery System Using a Fabry-Perot Interferometry Force Sensor and a Pneumatic Haptic Device.

Hao Su¹, Weijian Shang², Gang Li²

¹Wyss Institute for Biologically Inspired Engineering and the John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA. haosu.ieee@gmail.com.

Annals of Biomedical Engineering

|April 28, 2017

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This study introduces a master-slave teleoperation system for MRI-guided surgery. The system enables precise robotic needle placement with real-time force feedback, minimizing MRI image interference during procedures.

Area of Science:

Robotics
Medical Imaging
Surgical Technology

Background:

Percutaneous interventions require precise instrument navigation.
Magnetic Resonance Imaging (MRI) offers excellent soft-tissue visualization but poses challenges for robotic systems.
Real-time force feedback is crucial for safe and effective surgical manipulation.

Purpose of the Study:

To develop and evaluate a master-slave teleoperation system for MRI-guided percutaneous interventions.
To integrate a novel fiber optic force sensor for accurate needle insertion force measurement.
To assess the system's performance regarding robotic control, haptic feedback, and MRI compatibility.

Main Methods:

A 6-DOF piezoelectric slave robot with an integrated fiber optic force sensor (Fabry-Perot interferometry) was designed for MRI compatibility.

Keywords:

Haptics Image-guided surgery MR-conditional MRI-compatible robot Percutaneous interventions Teleoperation

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A pneumatically actuated master robot (haptic device) with strain gauge force sensing was developed for remote control.

The system was tested for image interference, teleoperated needle insertion, and rotation accuracy in a phantom model.

Main Results:

The teleoperation system demonstrated minimal MRI signal-to-noise ratio reduction (<17%) and geometric distortion (<1%).
The master robot accurately displayed the slave robot's measured needle insertion force.
Experiments achieved precise targeting in a soft-tissue phantom with a mean error of 0.70 ± 0.35 mm.

Conclusions:

The developed master-slave teleoperation system is suitable for MRI-guided percutaneous interventions.
The system provides accurate robotic control and real-time force feedback with minimal impact on MRI quality.
This technology has the potential to enhance the safety and efficacy of minimally invasive surgical procedures.