ArticleIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society2016
Design, Additive Manufacture, and Control of a Pneumatic, MR-Compatible Needle Driver.
Article in IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2016. 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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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.
- An MR-Safe Pneumatic Stepper Motor: Design, Control, and Characterization.Journal of medical devices · 2025Article
- Modeling and Control of an MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME).IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2024Article
- Towards MR-Guided Robotic Intracerebral Hemorrhage Evacuation: Aiming Device Design andIEEE transactions on medical robotics and bionics · 2024Article
- Interactive Multi-Stage Robotic Positioner for Intra-Operative MRI-Guided Stereotactic Neurosurgery.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2024Article
- Design and evaluation of a pneumatic actuation unit for a wasp-inspired self-propelled needle.PloS one · 2024Article
- Open Source MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME): Design and Manufacturing Guidelines.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2023Article
- Targeting Epilepsy Through the Foremen Ovale: How Many Helical Needles are Needed?Annals of biomedical engineering · 2022Article
- A Fully Actuated Robotic Assistant for MRI-Guided Precision Conformal Ablation of Brain Tumors.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2021Article
- MR-Conditional Actuations: A Review.Annals of biomedical engineering · 2020Review
- Towards Patient-Specific 3D-Printed Robotic Systems for Surgical Interventions.IEEE transactions on medical robotics and bionics · 2019Article
- Computer-assisted planning for a concentric tube robotic system in neurosurgery.International journal of computer assisted radiology and surgery · 2019Article
- Novel fabrication of soft microactuators with morphological computing using soft lithography.Microsystems & nanoengineering · 2019Article
- Characterization and Control of a Pneumatic Motor for MR-conditional Robotic Applications.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2017Article
- Optimization of Curvilinear Needle Trajectories for Transforamenal Hippocampotomy.Operative neurosurgery (Hagerstown, Md.) · 2017Article
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
This paper reports the design, modeling, and control of an MR-compatible actuation unit comprising pneumatic stepper mechanisms. One helix-shaped bellows and one toroid-shaped bellows were designed to actuate in pure rotation and pure translation, respectively. The actuation unit is a two degree- of-freedom needle driver that translates and rotates the base of one tube of a steerable needle like a concentric tube robot. For safety, mechanical stops limit needle motion to maximum unplanned step sizes of 0.5 mm and 0.5 degrees. Additively manufactured by selective laser sintering, the flexible fluidic actuating (FFA) mechanism achieves two degree-of-freedom motion as a monolithic, compact, and hermetically-sealed device. A second novel contribution is sub-step control for precise translations and rotations less than full step increments; steady- state errors of 0.013 mm and 0.018 degrees were achieved. The linear FFA produced peak forces of 33 N and -26.5 N for needle insertion and retraction, respectively. The rotary FFA produced bidirectional peak torques of 68 N-mm. With the FFA's in full motion in a 3T scanner, no loss in signal-to-noise ratio of MR images observed.
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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.