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Soft robotic manipulator for intraoperative MRI-guided transoral laser microsurgery
Ge Fang1, Marco C K Chow1, Justin D L Ho1
1Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China.
Science Robotics
|August 19, 2021
Summary
This study introduces a novel, MRI-safe soft robotic system for precise laser tumor ablation during transoral microsurgery. The robot enables accurate, real-time thermal monitoring and safe navigation in confined spaces.
Area of Science:
- Medical Robotics
- Surgical Navigation
- Biomedical Engineering
Background:
- Magnetic resonance imaging (MRI) offers advanced visualization for interventional procedures.
- Laser-based tumor ablation benefits from real-time MRI guidance for margin assessment and thermal monitoring.
- Dexterous laser steering in confined spaces within MRI is challenging.
Purpose of the Study:
- To develop and evaluate an MRI-safe soft robotic system for transoral laser microsurgery.
- To enable precise, real-time MRI-guided laser ablation with thermal monitoring.
- To overcome challenges of operating in confined, high-magnetic-field environments.
Main Methods:
- A miniature, five-degrees-of-freedom MR-safe soft robot with hybrid structures was designed.
- A learning-based controller was implemented for nonlinear robot actuation and laser steering.
- Ex vivo tissue ablation and cadaveric trials were performed under MRI guidance with MR thermometry.
Main Results:
- The soft robot demonstrated zero electromagnetic interference with MRI.
- Submillimeter laser steering accuracy (<0.20 mm mean error) was achieved.
- Intraoperative MR thermometry effectively monitored ablation margins and thermal diffusion.
Conclusions:
- The proposed MR-safe soft robotic system facilitates dexterous MRI-guided transoral laser microsurgery.
- This technology enhances safety and precision in head and neck tumor ablation.
- Real-time thermal monitoring during procedures is feasible with MR thermometry.
