Modular MR-Guided Transrectal Biopsy Manipulator With 4-DOF Positioning
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Solution Overview
Problem
Current MR-guided prostate biopsy systems are tailored to function in only one specific clinical setting and lack flexibility to adapt to different settings, causing operational challenges in hospitals due to changes in clinical workflow or unforeseen circumstances.
Innovation Solution
A modular transrectal probe manipulator system with a detachable probe and actuator assembly, providing four degrees of freedom, allowing operation in both MRI-ultrasound fusion systems and MR scanner rooms, and utilizing intervention planning software for precise probe positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robotic system is tailored to function in one specific clinical setting (e.g., MRI-US fusion system or MR-compatible intervention system), then the system can achieve reliable and precise operation in that setting, but it cannot be adapted to other clinical settings without requiring completely different hardware
Solution Approach 1:
The robotic system is designed with a universal interface that can accommodate multiple actuation mechanisms (piezoelectric, pneumatic, servo motors, stepper motors) through a standardized coupling mechanism. This allows the same robotic system to function reliably across different clinical settings and MRI scanner types without requiring setting-specific customization
Solution Approach 2:
The robotic system is divided into modular components: a base unit with control electronics, a detachable probe interface, and interchangeable actuation modules. This segmentation allows the core system to remain consistent while adapting to different clinical environments by swapping actuation modules rather than redesigning the entire system
2Force
If MR-compatible intervention systems use bulky actuation mechanisms inside the MRI gantry, then they can provide sufficient force for probe manipulation, but the system complexity and space requirements increase significantly
Solution Approach 1:
The bulky actuation mechanisms are extracted from the MRI gantry interior and relocated to the exterior. The robotic system uses external actuators connected to the probe through flexible cables or magnetic coupling, eliminating the need for complex mechanical actuation devices inside the confined MRI space while maintaining sufficient actuation force
Solution Approach 2:
Traditional mechanical actuation mechanisms inside the MRI gantry are replaced with alternative approaches such as magnetic field-based actuation, acoustic radiation force, or externally-applied forces transmitted through flexible media. This substitution reduces mechanical complexity while preserving the ability to apply necessary forces for probe manipulation
3Adaptability or versatility
If hospitals change clinical workflow or encounter unforeseen circumstances requiring a different clinical setting, then operational flexibility is needed, but existing systems cannot be reconfigured and require complete system replacement
Solution Approach 1:
The robotic system incorporates dynamic reconfiguration capabilities where the actuation mechanism can be changed or adjusted based on the clinical setting. The system transitions from a static, setting-specific design to a dynamic, adaptable architecture that can be reconfigured for different workflows by changing actuation modules or interface parameters
Data Source
AI summary
A transrectal probe manipulator system includes a probe comprising a biopsy needle and a manipulator. The manipulator includes a base including first and second base support shafts on a base body, a main frame, and a mounting plate. A lower end of the main frame is rotatably connected to the base through a first shaft to define a first degree of freedom. The mounting plate includes first and second mounting plate support shafts and a probe receiver, and is rotatably connected to the main frame through a second shaft to define a second degree of freedom. The probe receiver is rotatable about a central axis to define a third degree of freedom, and linearly moveable along the central axis to define a fourth degree of freedom. The probe is secured to the probe receiver. The manipulator is driven by cables which are attached to the shafts in an actuation assembly.