View in EDS

Toward the Development of a Flexible Mesoscale MRI-Compatible Neurosurgical Continuum Robot.

Saved in:

Bibliographic Details
Title:	Toward the Development of a Flexible Mesoscale MRI-Compatible Neurosurgical Continuum Robot.
Authors:	Kim, Yeongjin¹, Cheng, Shing Shin², Diakite, Mahamadou³, Gullapalli, Rao P.⁴, Simard, J. Marc⁴, Desai, Jaydev P.²
Source:	IEEE Transactions on Robotics. Dec2017, Vol. 33 Issue 6, p1386-1397. 12p.
Subjects:	Intelligent actuators, Magnetic resonance imaging, Robot kinematics, Shape memory alloys, Brain tumors
Abstract:	Brain tumor, be it primary or metastatic, is usually life threatening for a person of any age. Primary surgical resection is one of the most effective ways of treating brain tumors and can have a tremendously increased success rate if the appropriate imaging modality is used for complete tumor resection. Magnetic resonance imaging (MRI) is the imaging modality of choice for brain tumor imaging because of its excellent soft-tissue contrast. MRI combined with continuum soft robotics has immense potential to be the next major technological breakthrough in the field of brain cancer diagnosis and therapy. In this paper, we present the design, kinematic, and force analysis of a flexible spring-based minimally invasive neurosurgical intracranial robot. It is comprised of an interconnected inner spring and an outer spring and is connected to actively cooled shape memory alloy (SMA) spring actuators via tendon driven mechanism. Our robot has three serially connected 2-DoF segments, which can be independently controlled due to the central tendon routing configuration. The kinematic and force analysis of the robot and the independent segment control were verified by experiments. Robot motion under forced cooling of SMA springs was evaluated as well as the MRI compatibility of the robot and its motion capability in brain-like gelatin environment. [ABSTRACT FROM PUBLISHER]
	Copyright of IEEE Transactions on Robotics is the property of IEEE and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database:	Engineering Source

Description
Abstract:	Brain tumor, be it primary or metastatic, is usually life threatening for a person of any age. Primary surgical resection is one of the most effective ways of treating brain tumors and can have a tremendously increased success rate if the appropriate imaging modality is used for complete tumor resection. Magnetic resonance imaging (MRI) is the imaging modality of choice for brain tumor imaging because of its excellent soft-tissue contrast. MRI combined with continuum soft robotics has immense potential to be the next major technological breakthrough in the field of brain cancer diagnosis and therapy. In this paper, we present the design, kinematic, and force analysis of a flexible spring-based minimally invasive neurosurgical intracranial robot. It is comprised of an interconnected inner spring and an outer spring and is connected to actively cooled shape memory alloy (SMA) spring actuators via tendon driven mechanism. Our robot has three serially connected 2-DoF segments, which can be independently controlled due to the central tendon routing configuration. The kinematic and force analysis of the robot and the independent segment control were verified by experiments. Robot motion under forced cooling of SMA springs was evaluated as well as the MRI compatibility of the robot and its motion capability in brain-like gelatin environment. [ABSTRACT FROM PUBLISHER]
ISSN:	15523098
DOI:	10.1109/TRO.2017.2719035