ArticleBiomedical engineering advances2022
Kinematic and mechanical modelling of a novel 4-DOF robotic needle guide for MRI-guided prostate intervention.
Article in Biomedical engineering advances, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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4 authors at 1 institution in 1 country.
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Abstract
Traditionally ultrasound-guided biopsy has been used to diagnose prostate cancer despite of its poor soft tissue contrast and frequent false negative results. Magnetic Resonance Imaging (MRI) has the advantage of excellent soft tissue contrast for guiding and monitoring prostate biopsy. However, its working area and access in the confined MRI bore space limit the use of interventional guide devices including robotic systems. To provide robotic precision, greater access, and compact design, we designed a novel robotic mechanism that can provide four degrees of freedom (DOF) manipulation in a compact form comparable to size of manual templates. To develop the mechanism, we established a mathematical model of inverse and forward kinematics and prototyped a proof-of-concept needle guide for MRI guided prostate biopsy. The mechanism was materialized using four discs that house small passive spherical joints that can be moved by rotating the discs consisting of grooved profile. With an initial needle insertion angle range of ±15°, we identified mathematical and kinematic parameters for the mechanism design and fabricated the first prototype that has dimension of 40 × 110 × 180 mm
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