title: Towards Clinically Optimized MRI-guided Surgical Manipulator for Minimally Invasive Prostate Percutaneous Interventions: Constructive Design.
abstract: This paper undertakes the modular design and development of a minimally invasive surgical manipulator for MRI-guided transperineal prostate interventions. Severe constraints for the MRI-compatibility to hold the minimum artifact on the image quality and dimensions restraint of the bore scanner shadow the design procedure. Regarding the constructive design, the manipulator kinematics has been optimized and the effective analytical needle workspace is developed and followed by proposing the workflow for the manual needle insertion. A study of the finite element analysis is established and utilized to improve the mechanism weaknesses under some inevitable external forces to ensure the minimum structure deformation. The procedure for attaching a sterile plastic drape on the robot manipulator is discussed. The introduced robotic manipulator herein is aimed for the clinically prostate biopsy and brachytherapy applications.
authors.affiliation: Laboratory for Computational Sensing and Robotics (LCSR) at the Johns Hopkins University, Baltimore, MD, USA.
authors.forename: Sohrab
authors.initials: S
authors.lastname: Eslami
authors.affiliation: Automation and Interventional Medicine (AIM) Laboratory in the Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA.
authors.forename: Gregory S
authors.initials: GS
authors.lastname: Fischer
authors.affiliation: Department of Radiology, Brigham and Women's Hospital and Harvard Medical School, Boston, MA, USA.
authors.forename: Sang-Eun
authors.initials: SE
authors.lastname: Song
authors.affiliation: Department of Radiology, Brigham and Women's Hospital and Harvard Medical School, Boston, MA, USA.
authors.forename: Junichi
authors.initials: J
authors.lastname: Tokuda
authors.affiliation: Department of Radiology, Brigham and Women's Hospital and Harvard Medical School, Boston, MA, USA.
authors.forename: Nobuhiko
authors.initials: N
authors.lastname: Hata
authors.affiliation: Department of Radiology, Brigham and Women's Hospital and Harvard Medical School, Boston, MA, USA.
authors.forename: Clare M
authors.initials: CM
authors.lastname: Tempany
authors.affiliation: Laboratory for Computational Sensing and Robotics (LCSR) at the Johns Hopkins University, Baltimore, MD, USA.
authors.forename: Iulian
authors.initials: I
authors.lastname: Iordachita