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Special Section Technical Briefs

Follow-the-Leader Deployment of Steerable Needles Using a Magnetic Resonance-Compatible Robot With Stepper Actuators1

[+] Author and Article Information
E. Bryn Pitt, David B. Comber, Yue Chen, Robert J. Webster, III, Eric J. Barth

Department of Mechanical Engineering,
Vanderbilt University,
Nashville, TN 37235

Joseph S. Neimat

Department of Neurological Surgery,
Vanderbilt University Medical Center,
Nashville, TN 37232

DOI: 10.1115/1.4033242Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online May 12, 2016. Editor: William Durfee.

J. Med. Devices 10(2), 020945 (May 12, 2016) (2 pages) Paper No: MED-16-1170; doi: 10.1115/1.4033242 History: Received March 01, 2016; Revised March 17, 2016

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References

Kwan, P. , and Brodie, M. J. , 2000, “ Early Identification of Refractory Epilepsy,” N. Engl. J. Med., 342(5), pp. 314–319. [CrossRef] [PubMed]
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de Flon, P. , Kumlien, E. , Reuterwall, C. , and Mattsson, P. , 2010, “ Empirical Evidence of Underutilization of Referrals for Epilepsy Surgery Evaluation,” Eur. J. Neurol., 17(4), pp. 619–625. [CrossRef] [PubMed]
Willie, J. T. , Laxpati, N. G. , Drane, D. L. , Gowda, A. , Appin, C. , Hao, C. , Brat, D. J. , Helmers, S. L. , Saindane, A. , Nour, S. G. , and Gross, R. E. , 2014, “ Real-Time Magnetic Resonance-Guided Stereotactic Laser Amygdalohippocampotomy for Mesial Temporal Lobe Epilepsy,” Neurosurgery, 14(6), pp. 569–585. [CrossRef]
Gilbert, H. B. , Neimat, J. , and Webster, R. J. , 2015, “ Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment,” IEEE Trans. Rob., 31(2), pp. 246–258. [CrossRef]
Li, G. , Su, H. , Cole, G. , Shang, W. , Harrington, K. , Camilo, A. , and Fischer, G. S. , 2015, “ Robotic System for MRI-Guided Stereotactic Neurosurgery,” IEEE Trans. Biomed. Eng., 62(4), pp. 1077–1088. [CrossRef] [PubMed]
Fisher, T. , Hamed, A. , Vartholomeos, P. , Masamune, K. , Tang, G. , Ren, H. , and Zion, T. H. , 2014, “ Intraoperative Magnetic Resonance Imaging—Conditional Robotic Devices for Therapy and Diagnosis,” Proc. Inst. Mech. Eng., Part H, 228(3), pp. 303–318. [CrossRef]
Comber, D. B. , Slightam, J. E. , Gervasi, V. R. , Neimat, J. S. , and Barth, E. J. , 2016, “ Design, Additive Manufacture, and Control of a Pneumatic, MR-Compatible Needle Driver,” IEEE Trans. Rob., 32(1), pp. 138–149. [CrossRef]

Figures

Grahic Jump Location
Fig. 1

Robot with helical steerable needle

Grahic Jump Location
Fig. 2

Rotational displacement tracking

Grahic Jump Location
Fig. 3

Translational displacement tracking

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