Surgical, Interactive Robot developed into MRI (SIRO) (01.01.2005-31.12.2007)

The main aim of the study is develop of basic technology and theoretical solutions for new interactive surgical tool, a robot, which is used intra-operatively in imaging devices, especially in open Magnetic Resonance Imager. New clinical applications and solutions for use of a robot will be found. The consortium that present in this chapter will be divided in to four categories. Each of these is specialized to the most demanding fields of Magnetic Resonance Imaging, MR compatibility, robotics and control systems. By integrating these functions the co-operation will be productive.

Image processing for an MRI-compatible robot focuses on development of methods for controlling the robot in the MRI environment based on image data. This part of the research is
subdivided into four tasks: optical tracking and pose estimation of the robot arm, modelling and correction of the susceptibility artefacts, super-resolution techniques in robot navigation, and visual servoing using MRI data. It is expected that the solutions developed will improve the usability of the robot in MRI guided interventions, and they will also enable operations where human presence is not necessary in close vicinity of the patient that is likely to reduce the artefacts and distortions in the MR images substantially.

The purpose is to design miniaturized optical angle sensors for measuring robot’s arm position accurately and to design miniature 3-dimensional force tactile sensor. In addition, a highresolution miniature camera will be applied to robot’s arm for imaging biopsy operation. The robot works in the MRI-imaging room and measured data will be transmitted to the control room by using Ultra Wide Band radio technology. The whole robot system will be tested in EMClaboratory to ensure electromagnetic compatibility with hospital environment.

WP 3
This special, very demanding, environment brings many factors that will diminish the accuracy of the robot. Calibration methods will become important. Because of the requirements of medical devices, robot has to be very reliable and accurate. The calibration should be made often and it has to be easy as possible. This robot provides an excellent case for studying and developing techniques for robot calibration, spatial accuracy evaluation, optimal robot movement planning and compensation of the flexibility of the robot arm.

WP 4
The aim is to develop new, flexible and easily maneuverable tools for MRI-compatible robot. The applications overall are important and further development of the robot arm. The robot arm and the tools have to fill special requirements like: sterilization, easy maneuverability/ controllability and reliability. Total robot and the tools have to be MR-compatible. To design mechatronical units as tools to this robot, they require special application to maintain MRcompatibility. The magnetic resonance imager is very sensitive for external disturbances. The working environment of this robot could also be other 3D imaging device, like CT or US, the robot should be able to work also with these devices.

Last updated: 9.9.2016