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论文:2016,Vol:34,Issue(3):508-513 |
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引用本文： |
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王文东, 邹英杰, 史仪凯, 班超, 袁小庆. MRI向导的手术针介入系统设计与兼容性研究[J]. 西北工业大学学报 |
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Wang Wendong, Zou Yingjie, Shi Yikai, Ban Chao, Yuan Xiaoqing. Design and Experiement of MRI-Guided Needle Insertion Surgical Robot[J]. Northwestern polytechnical university |
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| MRI向导的手术针介入系统设计与兼容性研究 |
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| 王文东1, 邹英杰1, 史仪凯1, 班超2, 袁小庆1 |
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1. 西北工业大学 机电学院, 陕西 西安 710072;
2. 武警工程大学 装备工程学院, 陕西 西安 710086 |
| 摘要: |
| 磁共振图像向导的手术机器人以其定位精度高、重复性好等特点在临床医学中有重要应用价值。为研究其开发过程中的磁共振兼容性和手术过程力反馈的关键技术问题,理论分析了涡电流对磁共振图像的影响,设计了通用、简单且满足磁共振兼容性要求的力反馈系统和针介入手术系统模型,完成了磁共振兼容性以及图像向导实验设计。实验结果表明:力反馈系统和手术针介入系统的磁共振图像兼容性良好,控制系统和数据采集系统工作正常;超声波电机作为一种新的驱动方式可以用于构建MR图像向导的针介入手术机器人;在磁共振图像向导功能测试中,开发的手术针介入系统实现了精确定位。 |
| 关键词:
磁共振图像
手术机器人
超声波电机
力反馈系统
实验设计
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| Design and Experiement of MRI-Guided Needle Insertion Surgical Robot |
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| Wang Wendong1, Zou Yingjie1, Shi Yikai1, Ban Chao2, Yuan Xiaoqing1 |
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1. School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China;
2. Equipment Engineering College, Engineering University of CAPF, Xi'an 710086, China |
| Abstract: |
| Magnetic Resonance Imaging (MRI)-compatibility and force feedback are critical for developing image-guided needle insertion surgical robot. Due to the limitation of MRI-compatible commercial force sensor, a general and easy assembly force feedback system was proposed to provide solution for needle insertion surgeries. By designing a universal mounting device of Flexiforce sensor, the calculation and MRI-compatibility test were performed in MRI room. A preliminary MRI-guided needle insertion surgical robot which was driven by Ultrasonic motor was esigned with non-ferromagnetic materials. In this paper, the MRI-compatibility test and image guide test of the presented robot were performed in 3.0T MRI scanner. The results show the force feedback system is completely MRI-compatible. Meanwhile, the presented robot successfully reached to the designed target under the guide of MR images in guide test. |
| Key words:
magnetic resonance imaging
surgical robot
ultrasonic motor
force feedback system
design of experiment
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| 收稿日期: 2015-10-22
修回日期:
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| DOI: |
| 基金项目: 中央高校基本科研业务费专项资金(3102015JCS05010)与国家自然科学基金(51105316)资助 |
| 通讯作者:
Email： |
| 作者简介: 王文东(1984—),西北工业大学讲师,主要从事图像向导与医疗机器人研究。
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参考文献: |
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[1] Wang Wendong, Shi Yikai, Yuan Xiaoqing et al. Compatibility of US Motors for Development of MRI-Guided Surgical Robot[C]//2013 6th International Conference on Biomedical Engineering and Informatics, Hangzhou China, 2013: 388-392
[2] Wang W D, Zhang P, Shi Y K, et al. Design and Compatibility Evaluation of Magnetic Resonance Imaging-Guided Needle Insertion System[J]. Journal of Medical Imaging and Health Informatics, 2015, 5(8):1963-1967
[3] Tokuda J, Song S E, Fischer G S, et al. Preclinical Evaluation of an MRI-Compatible Pneumatic Robot for Angulated Needle Placement in Transperineal Prostate Interventions[J]. Int J Comput Assist Radiol Surg 2012, 7(6): 949-957
[4] Krieger A, Song S E, Cho N B, et al. Development and Evaluation of an Actuated MRI——Compatible Robotic System for MRI-Guided Prostate Intervention[J]. IEEE-ASME Trans on Mechatronics 2013, 18(1):273-284
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[6] Wang W D, Shi Y K, Goldenberg A A, et al. Experimental Analysis of Robot-Assisted Needle Insertion into Porcine Liver[J]. Biomed Mater Eng, 2015, 26(Suppl 1): 375-380
[7] Fischer G S, Iordachita I, Csoma C, et al. MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement[J]. IEEE-ASME Trans on Mechatronics, 2008, 13(3): 295-305
[8] Li M, Kapoor A, Mazilu D, et al. Pneumatic Actuated Robotic Assistant System for Aortic Valve Replacement under Mri Guidance[J]. IEEE Trans on Biomedical Engineering, 2011, 58(2): 443-451
[9] Kokes R, Lister K, Gullapalli R, et al. Towards a Teleoperated Needle Driver Robot with Haptic Feedback for Rfa of Breast Tumors under Continuous MRI[J]. Medical Image Analysis, 2009, 13(3): 445-455
[10] 王文东,史仪凯,袁小庆,等. 手术机器人中超声波电机磁共振兼容性研究[J]. 西北工业大学学报, 2014, 32(01): 147-151 Wang Wendong, Shi Yikai, Yuan Xiaoqing, et al. Design and Analysis of Magnetic Resonance Compatibility of Ultrasonic Motor in Surgical Robot[J]. Journal of Northwestern Polytechnical University, 2014, 32(1): 147-151 (in Chinese)
[11] 张鹏,史仪凯,王文东,等. 涡流场对MR兼容性影响建模与分析[J]. 西北工业大学学报, 2015, 33(3): 451-455 Zhang Peng, Shi Yikai, Wang Wendong, et al. Modeling and Analysis of Eddy Current on MR Compatibility[J]. Journal of Northwestern Polytechnical University, 2015, 33(3): 451-455 (in Chinese) |
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