Hydrostatic Teleoperator for MRI Needle Manipulation
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Solution Overview
Problem
Current MRI-guided biopsies require patients to be repeatedly removed from the MRI bore for needle insertion and adjustment, limiting access and increasing procedure duration and complexity.
Innovation Solution
A teleoperated MRI-compatible arm system with a low-friction hydraulic transmission allows remote manipulation of needles within the MRI bore, providing seven axes of motion and back-drivability to reflect patient movements, enabling precise needle positioning without patient removal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If patients are repeatedly removed from the MRI bore for needle insertion and adjustment, then access for needle manipulation is improved, but procedure duration and complexity increase
Solution Approach 1:
A teleoperator system with a robotic arm serves as an intermediary, allowing the physician to manipulate the needle through the MRI bore wall without removing the patient. The robotic arm transmits control signals and forces across the bore wall, enabling needle insertion and adjustment while the patient remains inside the MRI scanner.
Solution Approach 2:
The patent replaces the mechanical approach of physically accessing the needle through the bore with a hydraulic transmission system. Hydraulic actuators transmit forces and motions through fluid pressure, enabling precise control of the needle manipulation tools without direct mechanical access through the bore wall.
2Loss of time
If a teleoperator system is used for remote needle manipulation, then procedure duration is reduced, but device complexity increases
Solution Approach 1:
The teleoperator system uses hydraulic actuators to control the robotic arm's movements. Hydraulic fluid under pressure drives pistons that convert fluid pressure into mechanical forces, enabling precise and controllable manipulation of the needle through the bore wall with reduced system complexity compared to purely mechanical or electronic actuation systems.
3Manufacturing precision
If the teleoperator is designed with seven degrees of freedom, then needle positioning precision is improved, but manufacturing complexity increases
Solution Approach 1:
The robotic arm is segmented into multiple joints and segments, each contributing one degree of freedom. This segmentation allows the complex seven-degree-of-freedom positioning capability to be achieved through simpler, modular components that can be manufactured and assembled more easily than a monolithic structure.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enhances the sensitivity and reduces the duration of MRI-guided biopsies, improving patient care and reducing costs by allowing in-bore needle manipulation and maintaining contact with the skin during respiratory motions.
Implementation Method 1
forces and motions are generated by the operator and the device transmits them through a low-friction hydraulic transmission to the output end
Data Source
AI summary
A teleoperated MRI compatible arm system is provided that allow a physician to remotely operate. The system is passive, meaning forces and motions are generated by the operator and the device transmits them through a low-friction hydraulic transmission to the output end. The device enables manipulation in seven axes and exhibits one-to-one motion, allowing the physician to position and orient the needle during insertion. Moreover, the system is back-drivable and passively reflects patient respiratory motions and forces, a major roadblock to other devices explored in this space. The configuration of degrees of freedom and inputs allows the manipulation arm to maintain contact with the skin while also allowing the operator to insert the needle.