In‐bore prostate transperineal interventions with an MRI‐guided parallel manipulator: system development and preliminary evaluation. Issue 2 (26th June 2015)

• Record Type: Journal Article
• Authors: Eslami, Sohrab; Shang, Weijian; Li, Gang; Patel, Nirav; Fischer, Gregory S.; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare M.; Iordachita, Iulian
• Is Part Of: International journal of medical robotics and computer assisted surgery. Volume 12:Issue 2(2016)
• Page Start: 199
• Page End: 213
• Publication Date: 2015-06-26
• Subjects: prostate transperineal intervention -- parallel manipulator -- MRI compatible -- calibration assessment -- biopsy; Robotics in medicine -- Periodicals; Surgery -- Technological innovations -- Periodicals; Imaging systems in medicine -- Periodicals; 617.90285
• DOI: 10.1002/rcs.1671
• Languages: English
• ISSNs: 1478-5951

Abstract

Abstract: Background: Robot‐assisted minimally‐invasive surgery is well recognized as a feasible solution for diagnosis and treatment of prostate cancer in humans. Methods: This paper discusses the kinematics of a parallel 4 Degrees‐of‐Freedom (DOF) surgical manipulator designed for minimally invasive in‐bore prostate percutaneous interventions through the patient's perineum. The proposed manipulator takes advantage of four sliders actuated by MRI‐compatible piezoelectric motors and incremental rotary encoders. Errors, mostly originating from the design and manufacturing process, need to be identified and reduced before the robot is deployed in clinical trials. Results: The manipulator has undergone several experiments to evaluate the repeatability and accuracy (about 1 mm in air (in x or y direction) at the needle's reference point) of needle placement, which is an essential concern in percutaneous prostate interventions. Conclusion: The acquired results endorse the sustainability, precision and reliability of the manipulator. Copyright © 2015 John Wiley & Sons, Ltd.