Skip to Main content Skip to Navigation
Poster communications

Toward an MR-compatible needle holder with adaptive compliance using an active tensegrity mechanism

Abstract : Introduction
The field of MR imaging has extended from diagnosis to guidance and control in a wide variety of interventional procedures [1]. Due to the lack of space and manipulability within the MRI scanner, there is an ongoing interest for robotic assistance in MR-guided interventions. Numerous MR-compatible robots have been proposed, especially for needle manipulation. For needle insertion in the liver, patient-mounted robots are particularly interesting for the pro- vided partial compensation of the breathing motion. The needle holder must however still fulfill two contradictory requirements: it needs to be stiff during the insertion and compliant afterwards, in order to avoid organ lacerations [2]. This led to the development of needle grasping systems that allow the needle to move freely between two insertion phases [3]. In this paper, an alternate approach is considered: a needle manipulation system with adaptive compliance is proposed that is based on so-called tensegrity mechanisms. Numerous challenges related to MR-compatibility and compliance control could be overcome thanks to this recent class of robots, as outlined in the following through the design of a first device for needle orientation control.
Document type :
Poster communications
Complete list of metadata

Cited literature [9 references]  Display  Hide  Download
Contributor : Quentin Boehler <>
Submitted on : Thursday, September 20, 2018 - 8:35:23 PM
Last modification on : Tuesday, March 30, 2021 - 10:32:05 AM
Long-term archiving on: : Friday, December 21, 2018 - 4:30:40 PM


Files produced by the author(s)


  • HAL Id : lirmm-01275440, version 1


Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud. Toward an MR-compatible needle holder with adaptive compliance using an active tensegrity mechanism. SURGETICA, Dec 2014, Chambéry, France. Computer-Assisted Medical Interventions. Scientific problems, tools and clinical applications, 2014. ⟨lirmm-01275440⟩



Record views


Files downloads