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Development and placement accuracy evaluation of an MR conditional robot for prostate intervention

Authors :
Wenbo Wu
Zhang Jun
Lin Yuyang
Sun Haichao
Shi Yunlai
Wang Fugang
Source :
Medical & Biological Engineering & Computing. 59:1023-1034
Publication Year :
2021
Publisher :
Springer Science and Business Media LLC, 2021.

Abstract

Robot-assisted prostate intervention under magnetic resonance imaging (MRI) guidance is a promising method to improve the clinical performance compared with the manual method. An MR conditional 6-DOF prostate intervention serial robot is developed and a binocular vision system (BVS) is established to evaluate the needle placement accuracy and located the penetration point precisely. The robot is designed by the MR conditional criteria. The serial configuration of the robot provides adequate flexibility and large workspace and excellent friendliness to the physicians. The kinematics are deduced and the needle placement control flow is proposed according to the configuration of the robot. The robot-assisted prostate intervention is divided into two phases including needle placement and needle penetration. A custom-made robust BVS is developed to obtain the needle tip position automatically in the needle placement phase where the needle cannot be detected by the MRI for lack of hydrogen atom. A simple and general algorithm used for needle tip camera coordinate estimation is proposed. Experiments on the BVS validation and robot accuracy evaluation are performed. The experiment results show that the errors of the BVS are under 0.3621 mm and the position error of the proposed robot is 2.815 mm which indicate the adequate accuracy for the prostate intervention. Graphical abstract.

Details

ISSN :
17410444 and 01400118
Volume :
59
Database :
OpenAIRE
Journal :
Medical & Biological Engineering & Computing
Accession number :
edsair.doi.dedup.....36079ea0e2952402d172826aed2f6fd3