| Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches. | |
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MedLine Citation:
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PMID: 21399734 Owner: NLM Status: Publisher |
Abstract/OtherAbstract:
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Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained. |
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Authors:
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Sang-Eun Song; Nathan B Cho; Gregory Fischer; Nobuhito Hata; Clare Tempany; Gabor Fichtinger; Iulian Iordachita |
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Publication Detail:
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Type: JOURNAL ARTICLE |
Journal Detail:
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Title: IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation Volume: 2010 ISSN: 2152-4092 ISO Abbreviation: - Publication Date: 2010 Jul |
Date Detail:
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Created Date: 2011-3-14 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 101518638 Medline TA: IEEE Int Conf Robot Autom Country: - |
Other Details:
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Languages: ENG Pagination: 2580-2585 Citation Subset: - |
Affiliation:
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National Science Foundation Engineering Research Center for Computer-Integrated Surgical System and Technology, The Johns Hopkins University, Baltimore, MD, US. |
Export Citation:
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Descriptor/Qualifier:
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| Grant Support | |
ID/Acronym/Agency:
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R01 CA111288-01A1//NCI NIH HHS |
From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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