title: Reconfigurable MRI-guided robotic surgical manipulator: prostate brachytherapy and neurosurgery applications.
abstract: This paper describes a modular design approach for robotic surgical manipulator under magnetic resonance imaging (MRI) guidance. The proposed manipulator provides 2 degree of freedom (DOF) Cartesian motion and 2-DOF pitch and yaw motion. Primarily built up with dielectric materials, it utilizes parallel mechanism and is compact in size to fit into the limited space of close-bore MRI scanner. It is ideal for needle based surgical procedures which usually require positioning and orientation control for accurate imaging plane alignment. Specifically, this mechanism is easily reconfigurable to over constrained manipulator structure which provides 2-DOF Cartesian motion by simple structure modification. This modular manipulator integrated with different end-effector modules is investigated for prostate brachytherapy and neurosurgery applications as preliminary evaluation.
authors.affiliation: Department of MechanicalEngineering. Worcester Polytechnic Institute, Worcester, MA, USA. haosu@wpi.edu
authors.forename: Hao
authors.initials: H
authors.lastname: Su
authors.forename: Iulian I
authors.initials: II
authors.lastname: Iordachita
authors.forename: Xiaoan
authors.initials: X
authors.lastname: Yan
authors.forename: Gregory A
authors.initials: GA
authors.lastname: Cole
authors.forename: Gregory S
authors.initials: GS
authors.lastname: Fischer
mesh_terms: D001918:Brachytherapy / Q000295:instrumentation*; D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D008279:Magnetic Resonance Imaging / Q000295:instrumentation*; D008297:Male; D019635:Neurosurgical Procedures / Q000295:instrumentation*; D011471:Prostatic Neoplasms / Q000473:pathology / Q000532:radiotherapy*; D061089:Radiotherapy, Image-Guided / Q000295:instrumentation*; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation*; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*