| Title |
A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-Loop Targeting
|
|---|---|
| Published in |
Annals of Biomedical Engineering, March 2016
|
| DOI | 10.1007/s10439-016-1585-7 |
| Pubmed ID | |
| Authors |
Hao Su, Gang Li, D. Caleb Rucker, Robert J. Webster III, Gregory S. Fischer |
| Abstract |
This paper presents the design, modeling and experimental evaluation of a magnetic resonance imaging (MRI)-compatible concentric tube continuum robotic system. This system enables MRI-guided deployment of a precurved and steerable concentric tube continuum mechanism, and is suitable for clinical applications where a curved trajectory is needed. This compact 6 degree-of-freedom (DOF) robotic system is piezoelectrically-actuated, and allows simultaneous robot motion and imaging with no visually observable image artifact. The targeting accuracy is evaluated with optical tracking system and gelatin phantom under live MRI-guidance with Root Mean Square (RMS) errors of 1.94 and 2.17 mm respectively. Furthermore, we demonstrate that the robot has kinematic redundancy to reach the same target through different paths. This was evaluated in both free space and MRI-guided gelatin phantom trails, with RMS errors of 0.48 and 0.59 mm respectively. As the first of its kind, MRI-guided targeted concentric tube needle placements with ex vivo porcine liver are demonstrated with 4.64 mm RMS error through closed-loop control of the piezoelectrically-actuated robot. |
X Demographics
The data shown below were collected from the profile of 1 X user who shared this research output. Click here to find out more about how the information was compiled.
Geographical breakdown
| Country | Count | As % |
|---|---|---|
| Unknown | 1 | 100% |
Demographic breakdown
| Type | Count | As % |
|---|---|---|
| Members of the public | 1 | 100% |
Mendeley readers
The data shown below were compiled from readership statistics for 78 Mendeley readers of this research output. Click here to see the associated Mendeley record.
Geographical breakdown
| Country | Count | As % |
|---|---|---|
| United States | 1 | 1% |
| Unknown | 77 | 99% |
Demographic breakdown
| Readers by professional status | Count | As % |
|---|---|---|
| Student > Ph. D. Student | 20 | 26% |
| Student > Master | 11 | 14% |
| Researcher | 10 | 13% |
| Professor > Associate Professor | 7 | 9% |
| Student > Doctoral Student | 5 | 6% |
| Other | 10 | 13% |
| Unknown | 15 | 19% |
| Readers by discipline | Count | As % |
|---|---|---|
| Engineering | 44 | 56% |
| Medicine and Dentistry | 7 | 9% |
| Computer Science | 5 | 6% |
| Psychology | 1 | 1% |
| Mathematics | 1 | 1% |
| Other | 2 | 3% |
| Unknown | 18 | 23% |