The versatile uses and excellent soft tissue distinction afforded by magnetic resonance imaging (MRI) has led to the development of many MR-compatible devices for MRI-guided interventions. This paper presents a fully pneumatic MR-compatible robotic platform designed for neurosurgical interventions. Actuated by nonmagnetic pneumatic piston-cylinders, the robotic platform manipulates a five degree-of-freedom active cannula designed for deep brain interventions. Long lines of tubing connect the cylinders to remotely located pressure sensors and valves, and MRI-compatible optical sensors mounted on the robot provide the robot joint positions. A robust, nonlinear, model-based controller precisely translates and rotates the robot joints, with mean steady-state errors of 0.032 mm and 0.447 deg, respectively. MRI-compatibility testing in a 3-Tesla closed-bore scanner has shown that the robot has no impact on the signal-to-noise ratio, and that geometric distortion remains within recommended calibration limits for the scanner. These results demonstrate that pneumatic actuation is a promising solution for neurosurgical interventions that either require or can benefit from submillimeter precision. Additionally, this paper provides a detailed solution to the control problems imposed by severe nonlinearities in the pneumatic system, which has not previously been discussed in the context of MR-compatible devices.
Design and Control of an Magnetic Resonance Compatible Precision Pneumatic Active Cannula Robot
Manuscript received December 21, 2012; final manuscript received May 28, 2013; published online December 6, 2013. Assoc. Editor: Carl A. Nelson.
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Comber, D. B., Barth, E. J., and Webster, R. J., III (December 6, 2013). "Design and Control of an Magnetic Resonance Compatible Precision Pneumatic Active Cannula Robot." ASME. J. Med. Devices. March 2014; 8(1): 011003. https://doi.org/10.1115/1.4024832
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