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Research Papers

An MRI-Compatible Needle Manipulator Concept Based on Elastically Averaged Dielectric Elastomer Actuators for Prostate Cancer Treatment: An Accuracy and MR-Compatibility Evaluation in Phantoms

[+] Author and Article Information
Jean-Sébastien Plante

Département de Génie Mécanique, Université de Sherbrooke, Sherbrooke, QC, JIK 2R1, Canadajean-sebastien.plante@usherbrooke.ca

Kenjiro Tadakuma, Lauren M. DeVita

Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA 02139

Daniel F. Kacher, Simon P. DiMaio

Department of Radiology, Division of MRI and Image Guided Therapy Program, Brigham and Women's Hospital, Harvard Medical School, 75 Francis Street, Boston, MA 02115

Joseph R. Roebuck

Department of Radiology, University of Texas Medical Branch, 301 University Boulevard, Galveston, TX 77555jroebuck@utmb.edu

Ferenc A. Jolesz

Department of Radiology, Division of MRI and Image Guided Therapy Program, Brigham and Women's Hospital, Harvard Medical School, 75 Francis Street, Boston, MA 02115jolesz@bwh.harvard.edu

Steven Dubowsky

Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA 02139dubowsky@mit.edu

J. Med. Devices 3(3), 031005 (Aug 31, 2009) (10 pages) doi:10.1115/1.3191729 History: Received January 14, 2009; Revised May 22, 2009; Published August 31, 2009

A parallel manipulator concept using bistable polymer actuators has been developed to perform prostate cancer biopsy, and deliver therapy within the bore of a magnetic resonance imaging (MRI) scanner. The dielectric elastomer actuators (DEAs) used in this manipulator concept are promising for MRI-compatible robotics because they do not interfere with the high magnetic fields of MRI while having good mechanical performance and being low cost. In the past, these actuators have been plagued by robustness problems when used in a continuous manner. Recent studies show that reliability significantly improves when DEAs are used in a bistable manner, as proposed here. This paper investigates the potential of the proposed manipulator concept by evaluating the positioning accuracy and MRI compatibility of a laboratory prototype, developed for clinically relevant design criteria. An analytical model of the manipulator kinematics is presented. Analytical and experimental results validate that the proposed technology can provide an accurate needle placement required to perform prostate cancer treatments. The prototype’s MRI compatibility is validated in a 3 T clinical MRI scanner. The parallel manipulator concept using bistable polymer actuators is shown to be a viable approach to perform MRI-guided needle insertions for prostate cancer biopsy and therapy.

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Copyright © 2009 by American Society of Mechanical Engineers
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Figures

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Figure 1

A laboratory prototype MRI manipulator

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Figure 2

A bistable module assembly using antagonistic DEAs

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Figure 3

Transperineal brachytherapy procedure

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Figure 4

Workspace and manipulator size constraints

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Figure 5

Schematic of proposed manipulator

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Figure 6

Actuation center point free-body diagrams

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Figure 7

Analytically predicted workspace of MRI the manipulator

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Figure 8

Minimum distances from a reachable end effector point to random target location

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Figure 9

Distribution of system stiffness at 110 mm beyond perineum wall

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Figure 10

Manipulator and the measuring device

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Figure 11

Needle experimental workspace (units in mm)

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Figure 12

Needle placement performance in the prostate workspace (units in mm)

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Figure 13

Needle experimental and analytical plots

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Figure 14

Susceptibility artifact assessment. Top: from left to right: baseline, DEAs actuating with device in use-case location, DEAs actuating with device touching phantom. Bottom: the baseline image subtracted from the top images. No distortion to the left side of the phantom, which is in proximity to the device, is noted. The horizontal lines in the top right image are due to electromagnetic interference, not susceptibility

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