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He Zhang,Berk Gonenc,Iulian Iordachita 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
Retinal vein occlusion is one of the most common retinovascular diseases. Retinal vein cannulation is a potentially effective treatment method for this condition that currently lies, however, at the limits of human capabilities. In this work, the aim is to use robotic systems and advanced instrumentation to alleviate these challenges, and assist the procedure via a humanrobot collaborative mode based on our earlier work on the Steady-Hand Eye Robot and force-sensing instruments. An admittance control method is employed to stabilize the cannula relative to the vein and maintain it inside the lumen during the injection process. A pre-stress strategy is used to prevent the tip of microneedle from getting out of vein in in prolonged infusions, and the performance is verified through simulations.
Design of an MRI-Compatible Modularized Needle Driver for In-Bore MRI-Guided Prostate Interventions
Ki-Young Kim,Meng Li,Berk Gonenc,Weijian Shang,Sohrab Eslami,Iulian Iordachita 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
Magnetic resonance imaging (MRI) provides high-quality three dimensional visualization of prostate tissue, therefore MRI-guided prostate biopsy has been introduced to enhance cancer detection and treatment. However, closed-bore MRI has not been widely adopted for prostate interventions due to physical limitation of in-bore access and workspace. In this paper, we propose an MRI-compatible robotic manipulator which is able to perform both prostate biopsy and brachytherapy intervention in a closed-bore MRI scanner. The proposed manipulator mainly consists of a base robot and a needle driver. The needle driver can operate a conventional biopsy gun. The needle driver is draped separately from the base robot for sterilization, thus it can be detached from the base robot for needle replacing through a quick-release mechanism. Mechanical design and kinematic analysis of the robotic manipulator are delineated according to the constraints of the MRI environment and the clinical workflow.