ArticleAnnals of biomedical engineering2016
A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-Loop Targeting.
Article in Annals of biomedical engineering, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 14 papers.
What it found
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The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
14 citing papers in PubMed, 51 citations in OpenAlex.
- A Semi-Automated Robotic Platform for Curvilinear Catheter Implantation in HDR Prostate and GYN Brachytherapy.Journal of medical robotics research · 2026Article
- Toward Image-Guided, Robot-Assisted Focal Prostate Resection: Do Enhanced Dexterity and Visualization Improve Performance?Journal of medical robotics research · 2026Article
- Curved trajectories in stereotactic neurosurgery: is it feasible?Neurosurgical review · 2025Article
- Portable and Versatile Catheter Robot for Image-Guided Cardiovascular Interventions.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2025Article
- Towards Design and Development of an MRI Conditional Robot to Enable Curvilinear Transperineal Prostate Biopsy.The international journal of medical robotics + computer assisted surgery : MRCAS · 2024Article
- Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal.Journal of mechanisms and robotics · 2024Article
- Magnetic guidewire steering at ultrahigh magnetic fields.Science advances · 2023Article
- 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
- Heat-Mitigated Design and Lorentz Force-Based Steering of an MRI-Driven Microcatheter toward Minimally Invasive Surgery.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2022Article
- Rate-Dependent Modeling of Piezoelectric Actuators for Nano Manipulation Based on Fractional Hammerstein Model.Micromachines · 2021Article
- System Integration and Preliminary Clinical Evaluation of a Robotic System for MRI-Guided Transperineal Prostate Biopsy.Journal of medical robotics research · 2019Article
- MR-conditional steerable needle robot for intracerebral hemorrhage removal.International journal of computer assisted radiology and surgery · 2019Article
- Toward the Development of a Flexible Mesoscale MRI-compatible Neurosurgical Continuum Robot.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2017Article
- Towards Safe In Situ Needle Manipulation for Robot Assisted Lumbar Injection in Interventional MRI.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and SystemsArticle
Corrections and comments
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Authors and funding
5 authors at 4 institutions in 1 country.
Funding
Abstract
This paper presents the design, modeling and experimental evaluation of a magnetic resonance imaging (MRI)-compatible concentric tube continuum robotic system. This system enables MRI-guided deployment of a precurved and steerable concentric tube continuum mechanism, and is suitable for clinical applications where a curved trajectory is needed. This compact 6 degree-of-freedom (DOF) robotic system is piezoelectrically-actuated, and allows simultaneous robot motion and imaging with no visually observable image artifact. The targeting accuracy is evaluated with optical tracking system and gelatin phantom under live MRI-guidance with Root Mean Square (RMS) errors of 1.94 and 2.17 mm respectively. Furthermore, we demonstrate that the robot has kinematic redundancy to reach the same target through different paths. This was evaluated in both free space and MRI-guided gelatin phantom trails, with RMS errors of 0.48 and 0.59 mm respectively. As the first of its kind, MRI-guided targeted concentric tube needle placements with ex vivo porcine liver are demonstrated with 4.64 mm RMS error through closed-loop control of the piezoelectrically-actuated robot.
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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.