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Development and placement accuracy evaluation of an MR conditional robot for prostate intervention
- 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.
- Subjects :
- Male
Computer science
0206 medical engineering
Biomedical Engineering
02 engineering and technology
Kinematics
Workspace
030218 nuclear medicine & medical imaging
03 medical and health sciences
0302 clinical medicine
Prostate
medicine
Humans
Computer vision
Point (geometry)
Mr conditional
medicine.diagnostic_test
business.industry
technology, industry, and agriculture
Magnetic resonance imaging
Robotics
Magnetic Resonance Imaging
020601 biomedical engineering
Computer Science Applications
medicine.anatomical_structure
Needles
Robot
Artificial intelligence
business
human activities
Binocular vision
Algorithms
Subjects
Details
- ISSN :
- 17410444 and 01400118
- Volume :
- 59
- Database :
- OpenAIRE
- Journal :
- Medical & Biological Engineering & Computing
- Accession number :
- edsair.doi.dedup.....36079ea0e2952402d172826aed2f6fd3