Technical Briefs

Reconfigurable Fiducial-Integrated Modular Needle Driver for MRI-Guided Percutaneous Interventions

[+] Author and Article Information
Gregory S. Fischer

Automation and Interventional Medicine Laboratory,
Department of Mechanical Engineering,
Worcester Polytechnic Institute,
Worcester, MA, USA

Manuscript received March 15, 2013; final manuscript received April 26, 2013; published online July 3, 2013. Assoc. Editor: Arthur G. Erdman.

J. Med. Devices 7(3), 030915 (Jul 03, 2013) (2 pages) Paper No: MED-13-1070; doi: 10.1115/1.4024486 History: Received March 15, 2013; Revised April 26, 2013

First Page Preview

View Large
First page PDF preview
Copyright © 2013 by ASME
Your Session has timed out. Please sign back in to continue.


Das, J., Rucker, D. C., and Webster, R. J., 2010, “A Testbed for Multi-Lumen Steerable Needle Experiments,” Design of Medical Devices Conference, 2010.
Comber, D. B., Cardona, D, Webster, R. J., and Barth, E. J., 2012, “Precision Pneumatic Robot for MRI-Guided Neurosurgery,” DMD Conf., 2012.
Bedell, C., Lock, J., Gosline, A. and Dupont, P. E., 2011, “Design Optimization of Concentric Tube Robots Based on Task and Anatomical Constraints,” ICRA, 2011.
Bruns, T. L, Tucke, J. M., Rucker, D. C., Swaney, P. J., and Webster, R. J., 2011, “Design of An Autoclavable Active Cannula Depoment Device,” DMD Conf., 2011.
Su, H., Zervas, M, Cole, G. A.Furlong, C., and Fischer, G. S., 2011, “Real-time MRI-Guided Needle Placement Robot with Integrated Fiber Optic Force Sensing,” ICRA, 2011.
TokudaJ, SongS. E., FischerG. S., IordachitaII, SeifabadiR, ChoN. B., TuncaliK, FichtingerG, TempanyC. M., HataN, “Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions,” International Journal of Computer Assisted Radiology and Surgery, June 2012.
ColeG. A., HarringtonK, SuH, CamiloA, PilitsisJ. G., FischerG. S., “Closed-Loop Actuated Surgical System Utilizing In-Situ Real-Time MRI Guidance,” Springer Tracts in Advanced Robotics, eds. KhatibO, KumarV, SukhatmeG, Springer-Verlag, 2012.
Ma, Y., Dobrev, I., Shang, W., Su, H., Janga, S., and FischerG. S., 2012, “CHIC: Cylindrical Helix Imaging Coordinate Registration Fiducial for MRI-Guided Interventions,” EMBC, 2012.


Grahic Jump Location
Fig. 3

Prototype needle driver in a configuration with two actuation units shown with concentric-tube needles. Inset: fiducial frame filled with MR-visible gel, and CAD model of the frame showing the helix configuration concentric with the needle base.

Grahic Jump Location
Fig. 2

Exploded view of one of the actuation units. Each 2-DOF unit provides rotation and translation of a needle or cannula, which is fixed using a universal collet. Multiple units may be stacked concentrically to control complex multi-tube motion.

Grahic Jump Location
Fig. 1

CAD model of the needle driver mounted on a Cartesian base platform. This configuration is shown with two concentric 2-DOF actuation units on a common guide rail.




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In