Research Papers

Design and Experimental Assessment of an Elastically Averaged Binary Manipulator Using Pneumatic Air Muscles for Magnetic Resonance Imaging Guided Prostate Interventions

[+] Author and Article Information
Sylvain Proulx

 Université de Sherbrooke, 2500 boul. Universite J1K2R1, Sherbrooke, Québec, Canadasylvain.proulx2@usherbrooke.ca

Jean-Sébastien Plante

 Université de Sherbrooke, 2500 boul. Universite J1K2R1, Sherbrooke, Québec, Canadajean-sebastien.plante@usherbrooke.ca

J. Mech. Des 133(11), 111011 (Nov 17, 2011) (9 pages) doi:10.1115/1.4004983 History: Received July 29, 2010; Accepted August 22, 2011; Revised August 22, 2011; Published November 17, 2011; Online November 17, 2011

Early diagnostic and treatment of prostate cancer could be achieved using magnetic resonance imaging (MRI) to improve tumor perceptibility. Nonetheless, performing intra-MRI interventions present significant challenges due to intense magnetic fields and limited patient access. This paper presents an MRI-compatible manipulator using elastically averaged binary pneumatic air muscles (PAMs) to orient a needle into a targeted region of the prostate under the command of a physician. The proposed manipulator is based on an all-polymer compliant mechanism designed to make a completely MRI-compatible positioning system. A model based on the PAMs deformation energy is used to design the manipulator so that its discrete workspace, stiffness, and size meet clinically relevant design requirements. The model is also used to study the motion of the device during a state shift. A laboratory prototype of the device shows that the covered workspace, stiffness, and size of the manipulator can meet clinical requirements. Repeatability and accuracy are also acceptable with values of 0.5 mm and 1.7 mm, respectively. Finally, the manipulator’s behavior during state shift describes a hook-shaped motion that is both analytically predicted and experimentally observed.

Copyright © 2011 by American Society of Mechanical Engineers
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Figure 1

VTGM and a parallel elastically averaged architecture

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Figure 2

Binary actuation errors

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Figure 3

Patient and manipulator in the MRI bore during a transperinal prostate intervention

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Figure 4

12 PAMs manipulator prototype

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Figure 5

1D schematic of a 1D elastically averaged motion

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Figure 6

Pneumatic air muscle

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Figure 7

Schematic of one plane of PAMs assumed as non-linear active springs

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Figure 8

Schematic of the Mooney–Rivlin nonlinear model

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Figure 9

Analytical workspace

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Figure 10

Binary error of 1000 random positions in the required workspace for two planes of six PAMs

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Figure 11

Binary error according to the number of PAMs used in the architecture. Pams are distributed on two planes to compare similar architectures.

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Figure 12

Stiffness at end-effector for manipulators with 10, 12, 14, and 18 PAMS

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Figure 13

Trajectory during shift

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Figure 14

Curve fitting obtained on a PAM using the membrane model at 0 and 170 kPa

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Figure 15

Repeatability test sequences

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Figure 16

Repeatability obtained with the manipulator prototype using test sequence #2

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Figure 17

Trajectory followed by the end-effector during an actuation change




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