Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2016.16.0128

Physicians' Requirement Analysis Based Design of the Master Device Mechanism for Teleoperated Interventional Robotic System  

Woo, Hyun Soo (Department of Medical Assistant Robot, Korea Institute of Machinery and Materials)
Cho, Jang Ho (Department of Medical Assistant Robot, Korea Institute of Machinery and Materials)
Lee, Hyuk Jin (Department of Medical Assistant Robot, Korea Institute of Machinery and Materials)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.8, 2016 , pp. 603-609 More about this Journal
Abstract
This paper presents an optimally designed master device mechanism for teleoperated interventional robotic system. The interventional procedures using the teleoperated robotic system and the physicians' requirements are summarized. The master device should implement 5-DOF motion including 2-DOF translational motion for the entry position control, 2-DOF rotational motion for the orientation control, and 1- DOF translational motion for needle insertion. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The mechanisms for the 2-DOF translational motion and the 2-DOF rotational motion are designed using motors and brakes based on the various mechanisms to satisfy all the above requirements, respectively. Absolute position sensors are adopted to implement automatic initial positioning and orientation matching at the first step of needle insertion.
Keywords
master device; teleoperation; interventional procedure; optimal design;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 N. Abolhassani and R. V. Patel, "Teleoperated master-slave needle insertion," The International Journal of Medical Robotics and Computer Assisted Surgery, vol. 5, no. 4, pp. 398-405, 2009.   DOI
2 Z. Yaniv and K. Cleary, "Image-guided procedures: a review," Computer Aided Interventions and Medical Robotics, Technical Report 2006-3, 2006.
3 H. S. Woo, J. H. Cho, C. S. Kim, and H. J. Lee, "Master device for teleoperated needle insertion-type interventional robotic system," Proc. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 4849-4852, 2015.
4 S. Yoon, W. Kim, and M. Lee, "Impedance model based bilateral control for force reflection of a laparoscopic surgery robot," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 8, pp. 801-806, 2014.   DOI
5 K. Cleary, A. Melzer, V. Watson, G. Kronreif, and D. Stoianovici, "Interventional robotic systems: Applications and technology state-of-the-art," Minimally Invasive Therapy, vol. 15, no. 2, pp. 101-113, 2006.   DOI
6 Z. Neubach and M. Shoham, "Ultrasound-guided robot for flexible needle steering," IEEE Transactions on Biomedical Engineering, vol. 57, no. 4, pp. 799-805, 2010.   DOI
7 H. S. Bassan, R. V. Patel, and M. Moallem, "A novel manipulator for percutaneous needle insertion: design and experimenttation," IEEE/ASME Transactions on Mechatronics, vol. 14, no. 6, pp. 746-761, 2009.   DOI
8 G. Kronreif, M. Furst, J. Kettenbach, M. Figl, and R. Hanel, "Robotic guidance for percutaneous interventions," Advanced Robotics, vol. 17, no. 6, pp. 541-560, 2003.   DOI
9 G. Fichtinger, J. Fiene, C. Kennedy, I. Iordachita, G. Kronreif, D. Y. Song, E. C. Burdette, and P. Kazanzides, "Robotic assistance for ultrasound guided prostate brachytherapy," Medical Image Analysis, vol. 12, no. 5, pp. 535-545, 2009.   DOI
10 D. Stoianovici, D. Song, D. Petrisor, D. Ursu, D. Mazilu, M. Muntener, M. Schar, and A. Patriciu, "'MRI stealth' robot for prostate interventions," Minimally Invasive Therapy and Allied Technologies, vol. 16, no. 4, pp. 241-248, 2007.   DOI
11 R. Seifabadi, I. Iordachita, and G. Fichtinger, "Design of a teleoperated needle steering system for MRI-guided Prostate Interventions," Proc. 2012 4th IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 793-798, 2012.
12 K. P. Kim and D. L. Miller, "Minimising radiation exposure to physicians performing fluoroscopically guided cardiac catheterisation procedures: a review," Radiation Protection Dosimetry, vol. 133, no. 4, pp. 227-233, 2009.   DOI
13 S. E. Song, N. B. Cho, G. Ficsher, N. Hata, C. M. Tempany, G. Fichtinger, and I. Iordachita, "Development of a pneumatic robot for MRI-guided transperineal prostate biopsy and brachytherapy: New approaches," Proc. IEEE International Conference on Robotics and Automation, pp. 2580-2585, 2010.
14 W. Shang, H. Su, G. Li, and G. S. Fischer, "Teleoperation system with hybrid pnematic-piezoelectric actuation for MRI-guided needle insertion with haptic feedback," Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4092-4098, 2013.
15 R. Kokes, K. Lister, R. Gullapalli, B. Zhang, A. MacMillan, H. Richard, and J. Desai, "Towards a teleoperated needle driver robot with haptic feedback for RFA of breast tumors under continuous MRI," Medical Image Analysis, vol. 13, no. 3, pp. 445-455, 2009.   DOI
16 D. Stoianovici, K. Cleary, A. Patriciu, D. Mazilu, A. Stanimir, N. Craciunoiu, V. Watson, and L. Kavoussi, "Acubot: A robot for radio-logical interventions," IEEE Transactions on Robotics and Automation, vol. 19, no. 5, pp. 926-930, 2003.
17 Y. J. Moon, J. B. Seo, and J. S. Choi, "Development of new endeffector for proof-of-concept of fully robotic multichannel biopsy," IEEE Transactions on Mechatronics, vol. 20, no. 6, pp. 2996-3008, 2015.   DOI
18 O. Piccin, L. Barbe, B. Bayle, M. de Mathelin, and A. Gangi, "A force feedback teleoperated needle insertion device for percutaneous procedures," The International Journal of Robotics Research, vol. 28, no. 9, pp. 1154-1168, 2009.   DOI
19 B. Maurin, B. Bayle, O. Piccin, J. Gangloff, M. de Mathelin, C. Doignon, P. Zanne, and A. Gangi, "A patient-mounted robotic platform for CT-scan guided procedures," IEEE Transactions on Biomedical Engineering, vol. 55, no. 10, pp. 2417-2425, 2008.   DOI
20 H. Cha, J. Chung, W. K. Kim, and B. Yi, "Master-slave robotic system for 3 dimensional needle steering," Proc. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 857-862, 2010.
21 D. H. Lee, K. W. Noh, S. K. Kang, J. H. Han, and J. M. Lee, "Obstacle information transfer and control method using haptic device consist of vibration motors," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 10, pp. 1036-1043, 2014.   DOI