NDLI: Inverse Kinematic and Control Architecture of a Slave Manipulator for MR-Guided Brain Biopsy

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Raoufi, C. Goldenberg, A. A. Kucharczyk, W. Hadian, H.
Copyright Year	2008
Abstract	In this paper, the inverse kinematic and control paradigm of a novel tele-robotic system for MRI-guided interventions for closed-bore MRI-guided brain biopsy is presented. Other candidate neurosurgical procedures enabled by this system would include thermal ablation, radiofrequency ablation, deep brain stimulators, and targeted drug delivery. The control architecture is also reported. The design paradigm is fundamentally based on a modular design configuration of the slave manipulator that is performing tasks inside MR scanner. The tele-robotic system is a master-slave system. The master manipulator consists of three units including: (i) the navigation module; (ii) the biopsy module; and (iii) the surgical arm. Navigation and biopsy modules were designed to undertake the alignment and advancement of the surgical needle respectively. The biopsy needle is held and advanced by the biopsy module. The biopsy module is attached to the navigation module. All three units are held by a surgical arm. The main challenge in the control of the biopsy needle using the proposed navigation module is to adjust a surgical tool from its initial position and orientation to a final position and orientation. In a typical brain biopsy operation, the desired task is to align the biopsy needle with a target knowing the positions of both the target in the patient’s skull and the entry point on the surface of the skull. In this paper, the mechanical design, control paradigms, and inverse kinematics model of the robot are reported.
Starting Page	399
Ending Page	406
Page Count	8
File Format	PDF
ISBN	9780791848630
DOI	10.1115/IMECE2008-68302
e-ISBN	9780791838402
Volume Number	Volume 2: Biomedical and Biotechnology Engineering
Conference Proceedings	ASME 2008 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2008-10-31
Publisher Place	Boston, Massachusetts, USA
Access Restriction	Subscribed
Subject Keyword	Brain Drug delivery systems Navigation Radiofrequency ablation Manipulators Neurosurgery Robotics Design Design engineering Surgical tools Magnetic resonance imaging Ablation (vaporization technology) Surgery Kinematics Needles Robots
Content Type	Text
Resource Type	Article

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