An MRI Coil-Mounted Multi-Probe Robotic Positioner for Cryoablation
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v06at07a012-detc2013-13132.pdf
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Checksum (MD5)
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Author(s)
Torabi, Meysam
Yamada, Atsushi
Golden, Alex
Fischer, Gregory S.
Tuncali, Kemal
Walsh, Conor
Wu, Faye Y
Frey, Daniel
Date Issued
August 2013
Journal
Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE 2013
Publisher
American Society of Mechanical Engineers
Citation
Wu, Faye Y., et al. “An MRI Coil-Mounted Multi-Probe Robotic Positioner for Cryoablation.” Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE 2013, 4-7 August, 2013, Portland, Oregon, ASME, 2013, p. V06AT07A012.
Version
Final published version
Abstract
Cryoablation is a percutaneous procedure for treating solid tumors using needle-like instruments. This paper presents an interventional guidance device for faster and more accurate alignment and insertion of multiple probes during cryoablation performed in closed bore magnetic resonance (MR) imaging systems. The device is compact and is intended to be mounted onto a Siemens 110 mm MR loop coil. A cable-driven two-degrees-of-freedom spherical mechanism mimics the wrist motion as it orients the intervention probes about a remote center of motion located 15 mm above the skin. A carriage interfaces with the probes via a thumbscrew-fastened latch to passively release the probes from their tracks, enabling them to be inserted sequentially and freeing them to move with respiration. Small actuator modules containing piezoelectric encoder-based motors are designed to be snap-fit into the device for ease of replacement and sterilization. The robot MRI compatibility was validated with standard cryoablation imaging sequences in 3T MR environment, yielding a maximum of 4% signal to noise ratio during actuator motion. Bench-level device characterization demonstrated a maximum error of 0.78° in the carriage movement. Needle-tip placement experiments for multiple targets in gelatin were performed using our image-guided navigation software, measuring an average targeting error of 2.0 mm. Copyright © 2013 by ASME.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1115/DETC2013-13132
