The magnetic fields present in the magnetic resonance (MR) environment impose severe constraints on any mechatronic device present in its midst, requiring alternative actuators, sensors, and materials to those conventionally used in traditional system engineering. In addition the spatial constraints of closed-bore scanners require a physical separation between the radiologist and the imaged region of the patient. This configuration produces a loss of the sense of touch from the target anatomy for the clinician, which often provides useful information. To recover the force feedback from the tissue, an MR-compatible haptic unit, designed to be integrated with a five-degrees-of-freedom mechatronic system for MR-guided prostate biopsy, has been developed which incorporates position control and force feedback to the operator. The haptic unit is designed to be located inside the scanner isocentre with the master console in the control room. MR compatibility of the device has been demonstrated, showing a negligible degradation of the signal-to-noise ratio and virtually no geometric distortion. By combining information from the position encoder and force sensor, tissue stiffness measurement along the needle trajectory is demonstrated in a lamb liver to aid diagnosis of suspected cancerous tissue.
StarkD. D.BradleyW. G.Magnetic resonance imaging (Mosby, St Louis1999)
2.
SchenckJ. F.‘The role of magnetic susceptibility in magnetic resonance imaging: MRI magnetic compatibility of the first and second kinds.’Med. Physics23 (1996): 815–850
GassertR.MoserR.BurdetE.BleulerH.‘MRI/fMRI-compatible robotic system with force feedback for interaction with human motion.’IEEE/ASME Trans. Mechatronics11 (2006): 216–224
5.
ElhawaryH.ZivanovicA.ReaM.DaviesB. L.BesantC.McRobbieD.SouzaN. D.YoungI.LamperthM.‘The feasibility of MR-image guided prostate biopsy using piezoceramic motors inside or near to the magnet isocentre.’ In Proceedings of the Ninth International Conference on Medical image computing and computer-assisted intervention (MICCAI 2006), Lecture Notes in Computer Science, vol. 4190, Copenhagen, Denmark, 1–6 October 2006 pp. 519–526 (Springer-Verlag, Berlin).
6.
ElhawaryH.ZivanovicA.DaviesB.LamperthM.‘A review of magnetic resonance imaging compatible manipulators in surgery.’Proc. IMechE, Part H: J. Engineering in Medicine220 (2006): 413–424
7.
ChinzeiK.‘MR compatible surgical assist robot: System integration and preliminary feasibility study.’ In Proceedings of the Third International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI 2000) Lecture notes in Computer Science, vol. 1935, Pittsburgh, Pennsylvania, USA, 11–14 October 2000 pp. 921–930 (Springer-Verlag, Berlin).
8.
ChinzeiK.HataN.JoleszF. A.KikinisR.‘Surgical assist robot for the active navigation in the intraoperative MRI: hardware design issues.’ In Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent robots and systems (IROS 2000), Maui, Hawaii, USA, 31 October-5 November 2000 vol. 1, pp. 727–732 (IEEE, New York).
9.
DiMaioS. P.FischerG. S.HakerS. J.HataN.IordachitaI.TempanyC. M.KikinisR.FichtingerG.‘A system for MRI-guided prostate interventions.’ In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical robotics and biomechatronics (BioRob 2006), Pisa, Italy, 20–22 February 2006 pp. 68–73 (IEEE, New York).
10.
KontarinisD. A.‘Tactile display of vibratory information in teleoperation and virtual environments.’Presence-Teleoperators Virtual Environments4 (1995): 387–402
11.
GerovichO.MarayongP.OkamuraA. M.‘The effect of visual and haptic feedback on computer-assisted needle insertion.’Computer Aided Surg.9 (2004): 243–249
12.
KriegerA.SusilR. C.MenardC.ColemanJ. A.FichtingerG.AtalarE.WhitcombL. L.‘Design of a novel MRI compatible manipulator for image guided prostate interventions.’IEEE Trans. Biomed. Engng52 (2005): 306–313
13.
KriegerA.CsomaC.IordachitaI. I.GuionP.SinghA. K.FichtingerG.WhitcombL. L.‘Design and preliminary accuracy studies of an MRI-guided transrectal prostate intervention system.’ In Proceedings of the Tenth International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, 29 October-2 November 2007 pp. 59–67 (Springer-Verlag, Berlin).
FlueckigerM.BulloM.ChapuisD.GassertR. A.PerriardY. A.‘fMRI compatible haptic interface actuated with traveling wave ultrasonic motor.’ In Conference Record of the 2005 Industry Applications Conference, 40th IAS Annual Meeting, Hong Kong, 2–6 October 2005 vol. 3, pp. 2075–2082 (IEEENew York).
16.
SutherlandG. R.McBethP. B.LouwD. F.‘NeuroArm: an MR compatible robot for microsurgery.’ In Proceedings of the 18th International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS 2004), International Congress Series, vol. 1256, 2003 pp. 504–508 (Elsevier, Amsterdam).
McKnightA. L.KugelJ. L.RossmanP. J.ManducaA.HartmannL. C.EhmanR. L.‘MR elastography of breast cancer: Preliminary results.’Am. J. Roentgenology178 (2002): 1411–1417
20.
LewaC. J.RothM.NicolL.FranconiJ. M.de CertainesJ. D.‘A new fast and unsynchronized method for MRI of viscoelastic properties of soft tissues.’J. Magn. Resonance Imaging12 (2000): 784–789
21.
OphirJ.CespedesI.PonnekantiH.YazdiY.LiX.‘Elastography: A quantitative method for imaging the elasticity of biological tissues.’Ultrasonic Imaging13 (1991): 111–134
ElhawaryH.ZivanovicA.ReaM.DaviesB. L.BesantC.McRobbieD.SouzaN. D.YoungI.LamperthM.‘A modular approach to MRI compatible robotics: Interconnectable one DOF stages.’IEEE Engng Medicine Biology Mag.27 (2008): 35–41
24.
ReaM.McRobbieD.ElhawaryH.TseZ. T. H.LamperthM.YoungI.‘System for 3D real-time tracking of MRI-compatible devices by image processing.’ASME/IEEE Trans. Mechatronics13 (2008): 379–382
25.
HingJ. T.BrooksA. D.DesaiJ. P.‘A biplanar fluoroscopic approach for the measurement, modeling, and simulation of needle and soft-tissue interaction.’Med. Image Analysis11 (2007): 62–78
26.
PodderT.ClarkD.ShermanJ.FullerD.MessingE.RubensD.StrangJ.BrasacchioR.LiaoL.NgW. S.YuY.‘In vivo motion and force measurement of surgical needle intervention during prostate brachytherapy.’IEEE Engng Medicine Biology Mag.33 (2006): 2915–2922
DoyleyM. M.WeaverJ. B.Van HoutenE. W.KennedyF. E.PaulsenK. D.‘Thresholds for detecting and characterizing focal lesions using steady-state MR elastography.’Med. Physics30 (2003): 495–504
30.
ChinzeiK.KikinisR.JoleszF.‘MR compatibility of mechatronic devices: design criteria.’ In Proceedings of the Second International Conference on Medical image computing and computer-assisted intervention (MICCAI ‘99), Lecture Notes in Computer Science, vol. 1679, Cambridge, UK, 19–22 September 1999 pp. 1020–1031 (Springer-VerlagBerlin).
31.
StarkieS. J.DaviesB. L.‘Advances in active constraints and their application to minimally invasive surgery.’ In Proceedings of the Fourth International Conference on Medical image computing and computer-assisted intervention (MICCAI 2001), Lecture Notes in Computer Science, vol. 2208, Utrecht, the Netherlands, 14–17 October 2001 pp. 1316–1317 (Springer-Verlag, Berlin).
32.
JakopecM.HarrisS. J.Rodriguez y BaenaF.GomesP.CobbJ.DaviesB. L.‘The first clinical application of a hands-on robotic knee surgery system.’Computer Aided Surg.6 (2001): 329–339
33.
RossiA.TrevisaniA.ZanottoV.‘A telerobotic haptic system for minimally invasive stereotactic neurosurgery.’Int. J. Med. Robotics Computer Assisted Surg.1 (2005): 64–75
34.
HallW. A.MartinA. J.LiuH.NussbaumE. S.MaxwellR. E.TruwitC. L.‘Brain biopsy using high-field strength interventional magnetic resonance imaging.’Neurosurg. Online44 (1999): 807–813
35.
HataN.OharaF.HashimotoR.HashizumeM.DohiT.‘Needle guiding robot with five-bar linkage for MR-guided thermotherapy of liver tumor.’ In Proceedings of the Seventh International Conference on Medical image computing and computer-assisted intervention (MICCAI 2004), Lecture Notes in Computer Science, vol. 3217, Saint-Malo, France, 26–29 September 2004, pp. 161–168 (Springer-VerlagBerlin).
36.
HataN.HashimotoR.TokudaJ.MorikawaS. A.‘Needle guiding robot for MR-guided microwave thermotherapy of liver tumor using motorized remote-center-of-motion constraint.’ In Proceedings of the IEEE International Conference on Robotics and automation (ICRA 2005), Barcelona, Spain, 18–22 April 2005 pp. 1652–1656 (IEEE, New York).
