A rolling-diaphragm hydrostatic transmission for remote MR-guided needle insertion

Natalie Burkhard, Samuel Frishman, Alexander Gruebele, J. Peter Whitney, Roger Goldman, Bruce Daniel, Mark Cutkosky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Magnetic resonance imaging (MRI) offers many benefits, including unsurpassed soft-tissue characterization and the ability to combine detection and biopsy into a single procedure. However, limited patient access in the narrow scanner bore requires tedious iterative positioning or use of robotic assistants that isolate the physician from the patient. As an alternative, we present a teleoperation technology for percutaneous procedures to meet the needs of interventional radiologists and overcome challenges imposed by the MR environment. The technology is demonstrated for a 1-DOF needle insertion procedure. The technology uses rolling diaphragms, a clutch, and a cable-capstan drive to propel the needle while relaying forces and motions to the operator. The system demonstrates excellent position tracking (< 0.7° error in the unloaded case) and reliably transmits changes in force. During needle teleoperation, users were able to detect light membrane punctures and differentiate spring stiffnesses nearly as accurately as by hand manipulation.

Original languageEnglish (US)
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1148-1153
Number of pages6
ISBN (Electronic)9781509046331
DOIs
StatePublished - Jul 21 2017
Externally publishedYes
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: May 29 2017Jun 3 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period5/29/176/3/17

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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