NDLI: Haptic system design for MRI-guided needle based prostate brachytherapy

Content Provider	IEEE Xplore Digital Library
Author	Hao Su Weijian Shang Cole, G.A. Harrington, K. Fischer, G.S.
Copyright Year	2010
Description	Author affiliation: Automation and Interventional Medicine (AIM) Laboratory in the Department of Mechanical Engineering, Worcester Polytechnic Institute, MA, USA (Hao Su; Weijian Shang; Cole, G.A.; Harrington, K.; Fischer, G.S.)
Abstract	This paper presents the design of a haptic system for prostate needle brachytherapy under magnetic resonance imaging (MRI) guidance. This haptic system consists of some recently developed MRI-compatible mechatronic devices, including a fiber optic force sensor and a piezoelectric motor actuated needle driver mounted on a specifically designed 3-axis linear stage. We first propose the teleoperation framework with system architecture, infrastructure and control algorithm for the master-slave haptic interface. Then we introduce some novel sensors and actuators for MRI-compatible mechatronic devices of this haptic system. We developed the force sensor which provides in-vivo measurement of needle insertion forces to render proprioception associated with the brachytherapy procedure. We discuss the sensing principle of the optical sensor which enables two degrees-of-freedom (DOF) torque measurement and one DOF force measurement. The second apparatus of this system is a high precision 3-axis linear stage actuated by piezoelectric motors and position sensed by optical linear and rotary encoders and all of them have proved good magnetic compatibility. The needle driver can simultaneously provide needle cannula rotation and stylet translation motion while the cannula translation is engendered by the stage. The independent rotation and translation motion of the cannula and stylet can increase the targeting accuracy while minimize the tissue deformation and damage. The master-slave haptic system is capable of positioning needle and sensing insertion forces thus increasing the operation autonomy, accuracy and reducing the operation time.
Starting Page	483
Ending Page	488
File Size	405531
Page Count	6
File Format	PDF
ISBN	9781424468218
e-ISBN	9781424468225
e-ISBN	9781424468201
DOI	10.1109/HAPTIC.2010.5444612
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-03-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Needles Brachytherapy Magnetic resonance imaging Mechatronics Force sensors Master-slave Force measurement Optical sensors Optical fibers Prostate Needle Brachytherapy Optical Force Sensor MRI Compatible Haptic Feedback Needle Driver
Content Type	Text
Resource Type	Article

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