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.
Type de document :
Poster
Surgetica: Computer-Assisted Medical Interventions. Scientific problems, tools and clinical applications., Dec 2014, Chambéry, France. 2014
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Soumis le : jeudi 20 septembre 2018 - 20:35:23
Dernière modification le : vendredi 19 octobre 2018 - 11:46:41

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  • HAL Id : lirmm-01275440, version 1

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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: Computer-Assisted Medical Interventions. Scientific problems, tools and clinical applications., Dec 2014, Chambéry, France. 2014. 〈lirmm-01275440〉

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