3 research outputs found
Intraoperative Planning and Execution of Arbitrary Orthopedic Interventions Using Handheld Robotics and Augmented Reality
The focus of this work is a generic, intraoperative and image-free planning and execution application for arbitrary orthopedic interventions using a novel handheld robotic device and optical see-through glasses (AR). This medical CAD application enables the surgeon to intraoperatively plan the intervention directly on the patient’s bone. The glasses and all the other instruments are accurately calibrated using new techniques. Several interventions show the effectiveness of this approach
Enabling technologies for MRI guided interventional procedures
This dissertation addresses topics related to developing interventional assistant devices
for Magnetic Resonance Imaging (MRI). MRI can provide high-quality 3D visualization
of target anatomy and surrounding tissue, but the benefits can not be readily harnessed for
interventional procedures due to difficulties associated with the use of high-field (1.5T or
greater) MRI. Discussed are potential solutions to the inability to use conventional mecha-
tronics and the confined physical space in the scanner bore.
This work describes the development of two apparently dissimilar systems that repre-
sent different approaches to the same surgical problem - coupling information and action
to perform percutaneous (through the skin) needle placement with MR imaging. The first
system addressed takes MR images and projects them along with a surgical plan directly
on the interventional site, thus providing in-situ imaging. With anatomical images and a
corresponding plan visible in the appropriate pose, the clinician can use this information to
perform the surgical action.
My primary research effort has focused on a robotic assistant system that overcomes
the difficulties inherent to MR-guided procedures, and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot is a servo
pneumatically operated automatic needle guide, and effectively guides needles under real-
time MR imaging. This thesis describes development of the robotic system including
requirements, workspace analysis, mechanism design and optimization, and evaluation of
MR compatibility. Further, a generally applicable MR-compatible robot controller is de-
veloped, the pneumatic control system is implemented and evaluated, and the system is
deployed in pre-clinical trials. The dissertation concludes with future work and lessons
learned from this endeavor