ArticleProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems2013
Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.
Article in Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 14 papers.
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Who cites it
14 citing papers in PubMed.
- MRI-guided endovascular robotics: A roadmap to MRI-native systems.APL bioengineering · 2026Article
- Feasibility evaluation of radiotherapy positioning system guided by augmented reality and point cloud registration.Journal of applied clinical medical physics · 2024Article
- State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022Article
- A Novel Remote-Controlled Vascular Interventional Robotic System Based on Hollow Ultrasonic Motor.Micromachines · 2022Article
- A Cylindrical Grip Type of Tactile Device Using Magneto-Responsive Materials Integrated with Surgical Robot Console: Design and Analysis.Sensors (Basel, Switzerland) · 2022Article
- Recent Advances in Biomedical Photonic Sensors: A Focus on Optical-Fibre-Based Sensing.Sensors (Basel, Switzerland) · 2021Review
- A Fiber Bragg Grating Sensing Structure for the Design, Simulation and Stress Strain Monitoring of Human Puncture Surgery.Sensors (Basel, Switzerland) · 2019Article
- System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy.Journal of medical robotics research · 2019Article
- Phantom study of a fiber optic force sensor design for biopsy needles under MRI.Biomedical optics express · 2019Article
- MR-Compatible Haptic Display of Membrane Puncture in Robot-Assisted Needle Procedures.IEEE transactions on haptics · 2018Article
- An MRI-Guided Telesurgery System Using a Fabry-Perot Interferometry Force Sensor and a Pneumatic Haptic Device.Annals of biomedical engineering · 2017Article
- Towards human-controlled, real-time shape sensing based flexible needle steering for MRI-guided percutaneous therapies.The international journal of medical robotics + computer assisted surgery : MRCAS · 2017Article
- Fiber Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review.IEEE sensors journal · 2017Article
- Development of an MRI-Compatible Needle Driver for In-Bore Prostate Biopsy.Proceedings of ... International Conference on Advanced Robotics. International Conference on Advanced Robotics · 2015Article
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.