A Magnetic Resonance-Compatible Haptic Interface for Image-Guided Interventions
Stanford University
Fall 2015 - Spring 2016
Publication:
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Burkhard, Natalie, et al. "A rolling-diaphragm hydrostatic transmission for remote MR-guided needle insertion." IEEE International Conference on Robotics and Automation (ICRA). 2017.
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This research worked toward developing a novel magnetic resonance (MR)-compatible passive haptic transmission system for bilateral teleoperation of image-guided interventions, augmented with sensing and software. A physician manually actuates the master side using natural motions, which are transmitted to the slave side where an instrument is mounted to perform an intervention (e.g. percutaneous procedures).
The aim is to allow physicians outside the MR scanner to perform procedures as though they were directly interacting with the patient, combining 3-D imaging of tissues with accurate kinesthetic and force feedback for physical interactions. Preliminary experiments will establish the transparency and ultimate performance limits on the system, which involves a new hydrostatic technology not previously tested in this configuration. I will also conduct human subject tests to confirm predictions regarding ergonomic factors and perceptions of transmitted forces combined with imaging.
The proposed system aims to endow the physician with a sense of telepresence. The MRI GUI (A) autonomously selects scan planes that intersect the tool tip; tool position and orientation are overlaid on MR-images. Master and slave mechanisms integrate a serial chain (C) for approximate positioning and a parallel mechanism for fine tool motions (B). A hydrostatic transmission with no sliding seals (D) couples the master and slave for realistic rendering of tool interactions (E).
Left: Liver under portal venous CT. Right: Liver under MRI with eovist contrast agent. The red arrows depict the visible tumors. Compare the left and right images: under CT, only one tumor is visible, whereas the MR-image shows 7. Furthermore, the portal venous CT image lasts only ~30 seconds, whereas the contrast agent used for MRI stays 40 minutes.