Research Papers

Design of a Magnetic Resonance Imaging-Compatible Cable-Driven Manipulator With New Instrumentation and Synthesis Methods

[+] Author and Article Information
S. Abdelaziz

Associate Professor
Université Montpellier 2, LIRMM, CNRS,
Montpellier 34000, France
e-mail: abdelaziz@lirmm.fr

L. Esteveny

Université de Strasbourg, ICube, CNRS,
Strasbourg 67000, France
e-mail: lesteveny@unistra.fr

L. Barbé

Université de Strasbourg, ICube, CNRS,
Strasbourg 67000, France
e-mail: laurent.barbe@unistra.fr

P. Renaud

Université de Strasbourg, ICube, CNRS,
Strasbourg 67000, France
e-mail: pierre.renaud@insa-strasbourg.fr

B. Bayle

Université de Strasbourg, ICube, CNRS,
Strasbourg 67000, France
e-mail: bernard.bayle@unistra.fr

M. de Mathelin

Université de Strasbourg, ICube, CNRS,
Strasbourg 67000, France
e-mail: demathelin@unistra.fr

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received June 14, 2013; final manuscript received May 26, 2014; published online June 19, 2014. Assoc. Editor: Chintien Huang.

J. Mech. Des 136(9), 091006 (Jun 19, 2014) (10 pages) Paper No: MD-13-1262; doi: 10.1115/1.4027783 History: Received June 14, 2013; Revised May 26, 2014

This paper deals with the design of a cable-driven manipulator (CDM) with instrumented structure for magnetic resonance imaging (MRI)-guided interventions. The strong magnetic field and the limited space inside the scanner constitute two severe design constraints. To handle them, a new synthesis approach for CDM is proposed in order to optimize the device compactness. This approach is based on the use of the zonotope properties to optimize the robot geometry, and the interval analysis tools for its validation. Remote actuation with Bowden cables is considered for MRI-compatibility. High friction along the line transmissions can then be expected which leads to a new instrumentation for cable tension evaluation. A prototype is manufactured and assessed. The principle of the instrumentation is validated as well as the user requirements in terms of workspace and ability to resist to external forces applied by the physician.

Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.


Tempany, C., and Franco, F., 2012, “Prostate MRI: Update and Current Roles,” Appl. Radiol., 41(3), pp. 17–22.
Accessed in 2014, “GLOBOCAN 2012: Estimated Cancer Incidence, Mortality and Prevalence Worldwide in 2012,” http://globocan.iarc.fr
Chinzei, K., and Miller, K., 2001, “MRI Guided Surgical Robot,” Australian Conference on Robotics and Automation, Sydney, Australia, Nov., pp. 50–55.
Song, S.-E., Cho, N., Fischer, G., Hata, N., Tempany, C., Fichtinger, G., and Iordachita, I., 2010, “Development of a Pneumatic Robot for MRI-Guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches,” Proceedings of the IEEE International Conference on Robotics and Automation, Anchorage, AK, May, pp. 2580–2585.
Su, H., Zervas, M., Cole, G., Furlong, C., and Fischer, G., 2011, “Real-Time MRI-Guided Needle Placement Robot With Integrated Fiber Optic Force Sensing,” Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, China, May, pp. 1583–1588.
Patriciu, A., Petrisor, D., Muntener, M., Mazilu, D., Schar, M., and Stoianovici, D., 2007, “Automatic Brachytherapy Seed Placement Under MRI Guidance,” IEEE Trans. Biomed. Eng., 54(8), pp. 1499–1506. [CrossRef] [PubMed]
Goldenberg, A., Trachtenberg, J., Kucharczyk, W., Yi, Y., Haider, M., Ma, L., Weersink, R., and Raoufi, C., 2008, “Robotic System for Closed-Bore MRI-Guided Prostatic Interventions,” IEEE/ASME Trans. Mechatronics, 13(3), pp. 374–379. [CrossRef]
Fischer, G., Iordachita, I., Csoma, C., Tokuda, J., DiMaio, S., Tempany, C., Hata, N., and Fichtinger, G., 2008, “MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement,” IEEE/ASME Trans. Mechatronics, 13(3), pp. 295–305. [CrossRef]
Elhawary, H., Tse, Z., Rea, M., Zivanovic, A., Davies, B. L., Besant, C., de Souza, N., McRobbie, D., Young, I., and Lamperth, M., 2010, “Robotic System for Transrectal Biopsy of the Prostate: Real-Time Guidance Under MRI,” IEEE Eng. Med. Biol. Mag., 29(2), pp. 78–86. [CrossRef] [PubMed]
Plante, J.-S., Devita, L., Tadakuma, K., and Dubowsky, S., 2009, “MRI Compatible Device for Robotic Assisted Interventions to Prostate Cancer,” Biomedical Applications of Electroactive Polymer Actuators, John Wiley & Sons, Ltd, pp. 411–425.
Krieger, A., Iordachita, I., Song, S.-E., Cho, N., Guion, P., Fichtinger, G., and Whitcomb, L., 2010, “Development and Preliminary Evaluation of an Actuated MRI-Compatible Robotic Device for MRI-Guided Prostate Intervention,” Proceedings of the IEEE International Conference on Robotics and Automation, Anchorage, AK, May, pp. 1066–1073.
Gangi, A., Tsoumakidou, G., Abdelli, O., Buy, X., Mathelin, M., Jacqmin, D., and Lang, H., 2012, “Percutaneous MR-Guided Cryoablation of Prostate Cancer: Initial Experience,” Eur. Radiol., 22(8), pp. 1829–1835. [CrossRef] [PubMed]
Salimi, A., Ramezanifar, A., Mohammadpour, J., and Grigoriadis, K., 2012, “Robocath: A Patient-Mounted Parallel Robot to Position and Orient Surgical Catheters,” ASME Paper No. DSCC2012-MOVIC2012-8846. [CrossRef]
Hungr, N., Fouard, C., Robert, A., Bricault, I., and Cinquin, P., 2011, “Interventional Radiology Robot for CT and MRI-Guided Percutaneous Interventions,” Medical Image Computing and Computer-Assisted Intervention, pp. 137–144.
Abdelaziz, S., Esteveny, L., Renaud, P., Bayle, B., and de Mathelin, M., 2011, “Design and Optimization of a Novel MRI Compatible Wire-Driven Robot for Prostate Cryoablation,” ASME Paper No. DETC2011-48092. [CrossRef]
Ebert-Uphoff, I., and Voglewede, P., 2004, “On the Connections Between Cable-Driven Robots, Parallel Manipulators, and Grasping,” Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, Apr., pp. 4521–4526.
Bosscher, P., Riechel, A., and Ebert-Uphoff, I., 2006, “Wrench-Feasible Workspace Generation for Cable-Driven Robots,” IEEE Trans. Rob., 22(5), pp. 890–902. [CrossRef]
Stump, E., and Kumar, V., 2006, “Workspaces of Cable-Actuated Parallel Manipulators,” ASME J. Mech. Des., 128(1), pp. 159–167. [CrossRef]
Gouttefarde, M., Daney, D., and Merlet, J.-P., 2011, “Interval-Analysis-Based Determination of the Wrench-Feasible Workspace of Parallel Cable-Driven Robots,” IEEE Trans. Rob., 27(1), pp. 1–13. [CrossRef]
Gouttefarde, M., Krut, S., Company, O., Pierrot, F., and Ramdani, N., 2008, “On the Design of Fully Constrained Parallel Cable-Driven Robots,” Advances in Robot Kinematics: Analysis and Design, Batz-sur-Mer, France, June, pp. 71–78.
Bouchard, S., 2008, “Géometrie des robots parallèles entraînes par des cables,” Ph.D. thesis, Université Laval, Québec, Canada.
Bouchard, S., Gosselin, C., and Moore, B., 2009, “On the Ability of a Cable-Driven Robot to Generate a Prescribed Set of Wrenches,” ASME J. Mech. Rob., 2(1), pp. 1–10. [CrossRef]
Abdelaziz, S., Esteveny, L., Barbe, L., Renaud, P., Bayle, B., and de Mathelin, M., 2012, “Development of a MR-Compatible Cable-Driven Manipulator: Design and Technological Issues,” Proceedings of the IEEE International Conference on Robotics and Automation, St. Paul, MN, May, pp. 1488–1494.
Accessed in 2014, MRI-Compatible Fiber Optic Incremental Encoder. Available at: http://www.micronor.com/products/files/MR328/MDS_MR328.pdf
Zisman, A., Pantuck, A. J., Cohen, J. K., and Belldegrun, A. S., 2001, “Prostate Cryoablation Using Direct Transperineal Placement of Ultrathin Probes Through a 17-Gauge Brachytherapy Template-Technique and Preliminary Results,” Urology, 58(6), pp. 988–993. [CrossRef] [PubMed]
Abdelaziz, S., Esteveny, L., Renaud, P., Bayle, B., Barbé, L., De Mathelin, M., and Gangi, A., 2011, “Design Considerations for a Novel MRI Compatible Manipulator for Prostate Cryoablation,” Int. J. Comput. Assisted Radiol. Surg., 6(6), pp. 811–819. [CrossRef]
Moore, R. E., 1979, “Methods and Applications of Interval Analysis,” Studies in Applied Mathematics, SIAM.
Hao, F., and Merlet, J. P., 2005, “Multi-Criteria Optimal Design of Parallel Manipulators Based on Interval Analysis,” J. Mech. Mach. Theory, 40(2), pp. 157–171. [CrossRef]
Accessed in 2014, Matlab Toolbox for Reliable Computing and Self-Validating Algorithms. Available at: http://www.ti3.tuharburg.de/rump/intlab/
Accessed in 2014, Tracking System for MRI Guided Interventions. Available at: http://www.robinmedical.com/endoscout.html
Kesner, S., and Howe, R., 2011, “Design Principles for Rapid Prototyping Forces Sensors Using 3-D Printing,” IEEE/ASME Trans. Mechatronics, 16(5), pp. 866–870. [CrossRef]
Ataollahi, A., Fallah, A., Seneviratne, L., Dasgupta, P., and Althoefer, K., 2014, “Novel Force Sensing Approach Employing Prismatic-Tip Optical Fiber Inside an Orthoplanar Spring Structure,” IEEE/ASME Trans. Mechatronics, 19(1), pp. 121–130. [CrossRef]


Grahic Jump Location
Fig. 1

Patient in the lithotomy position with the remote actuation CDM between his legs

Grahic Jump Location
Fig. 3

(a) Needle axis positioning using the robotic device and (b) height of the platform

Grahic Jump Location
Fig. 4

Needle insertion scenario

Grahic Jump Location
Fig. 5

Example of available wrench set characterization: (a) representation of the planar mechanism (n = 2 and m = 3), (b) zonotope generation in the wrench space, (c) and (d) application of the hyperplane shifting method

Grahic Jump Location
Fig. 7

(a) Symmetric triangular structure, (b) square structure with direct cables, and (c) square structure with crossed cables

Grahic Jump Location
Fig. 8

Workspace analysis of the rectangular architecture with direct cables using its optimal design parameters ξop = 49 mm

Grahic Jump Location
Fig. 9

Modification of the cables path with the use of an instrumented structure. For each cable, the paths to and from the platform are slightly shifted for sake of clarity.

Grahic Jump Location
Fig. 10

Kinematic schemes and computer aided design views of the two compliant structures, denoted as (s1) and (s2)

Grahic Jump Location
Fig. 11

(a) The selected compliant structure, (b) kinematic scheme of the amplification mechanism, and (c) the displacement field when the amplification mechanism is submitted to a 60 N force (displacements in mm)

Grahic Jump Location
Fig. 12

Computer aided design overview of the device

Grahic Jump Location
Fig. 13

Up, a global view of the prototype. Down, a closeup view of the compliant structure for tension estimation.

Grahic Jump Location
Fig. 14

MRI compatibility assessment. Up, MRGuide positioned against a phantom. Down, MRI images in two planes P1 and P2.

Grahic Jump Location
Fig. 15

Top view of the robotic device during the evaluation of the instrumented structure

Grahic Jump Location
Fig. 16

Force compression in the bars estimated using the optical sensors

Grahic Jump Location
Fig. 17

Test bed composed of one-fourth of the device

Grahic Jump Location
Fig. 18

Cable tension evaluation

Grahic Jump Location
Fig. 19

Setup used for the device performance evaluation

Grahic Jump Location
Fig. 20

On the left, the force applied by the prismatic joint on the platform. On the right, the force exerted by the cables on the platform computed from tension measurements (forces in N, time origins differ between the two plots).



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In