Details
| Original language | English |
|---|---|
| Title of host publication | New Trends in Medical and Service Robotics - MESROB 2023 |
| Editors | Daniela Tarnita, Nicolae Dumitru, Ionut Geonea, Doina Pisla, Giuseppe Carbone |
| Publisher | Springer Science and Business Media B.V. |
| Pages | 3-12 |
| Number of pages | 10 |
| ISBN (electronic) | 9783031324468 |
| ISBN (print) | 9783031324451 |
| Publication status | Published - 19 May 2023 |
| Event | 8th International Workshop on New Trends in Medical and Service Robots, MESROB 2023 - Craiova, Romania Duration: 7 Jun 2023 → 10 Jun 2023 |
Publication series
| Name | Mechanisms and Machine Science |
|---|---|
| Volume | 133 MMS |
| ISSN (Print) | 2211-0984 |
| ISSN (electronic) | 2211-0992 |
Abstract
This work presents a soft robotic system that supports interventionalists in tumor diagnostics through biopsy and ablation in the magnetic resonance imaging (MRI) environment. The system is designed to indicate the location of the puncture, assist in holding the biopsy and ablation needles, and support the fine adjustment of the puncture angle. The robot consists of a six-chamber soft actuator that can be extended with additional actuators or end effectors using a connector system. Two end effector designs are presented, a needle holder, and a system for indicating and, if necessary, marking the puncture site. The soft robot components are prototyped and characterized in an experimental set-up regarding the bending capabilities and evaluated with the help of an experienced interventionalist. A minimum bending angle of 23. 51∘ was achieved, which satisfies the predefined requirements.
Keywords
- interventional radiology, soft robotics, tumor ablation
ASJC Scopus subject areas
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
Cite this
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New Trends in Medical and Service Robotics - MESROB 2023. ed. / Daniela Tarnita; Nicolae Dumitru; Ionut Geonea; Doina Pisla; Giuseppe Carbone. Springer Science and Business Media B.V., 2023. p. 3-12 (Mechanisms and Machine Science; Vol. 133 MMS).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Soft Robot Assistance for Tumor Biopsy and Ablation in Magnetic Resonance Imaging
AU - Schlockermann, Kira
AU - Peters, Jan
AU - Hensen, Bennet
AU - Löning C, J. Joaquin
AU - Wacker, Frank
AU - Raatz, Annika
PY - 2023/5/19
Y1 - 2023/5/19
N2 - This work presents a soft robotic system that supports interventionalists in tumor diagnostics through biopsy and ablation in the magnetic resonance imaging (MRI) environment. The system is designed to indicate the location of the puncture, assist in holding the biopsy and ablation needles, and support the fine adjustment of the puncture angle. The robot consists of a six-chamber soft actuator that can be extended with additional actuators or end effectors using a connector system. Two end effector designs are presented, a needle holder, and a system for indicating and, if necessary, marking the puncture site. The soft robot components are prototyped and characterized in an experimental set-up regarding the bending capabilities and evaluated with the help of an experienced interventionalist. A minimum bending angle of 23. 51∘ was achieved, which satisfies the predefined requirements.
AB - This work presents a soft robotic system that supports interventionalists in tumor diagnostics through biopsy and ablation in the magnetic resonance imaging (MRI) environment. The system is designed to indicate the location of the puncture, assist in holding the biopsy and ablation needles, and support the fine adjustment of the puncture angle. The robot consists of a six-chamber soft actuator that can be extended with additional actuators or end effectors using a connector system. Two end effector designs are presented, a needle holder, and a system for indicating and, if necessary, marking the puncture site. The soft robot components are prototyped and characterized in an experimental set-up regarding the bending capabilities and evaluated with the help of an experienced interventionalist. A minimum bending angle of 23. 51∘ was achieved, which satisfies the predefined requirements.
KW - interventional radiology
KW - soft robotics
KW - tumor ablation
UR - http://www.scopus.com/inward/record.url?scp=85161240679&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-32446-8_1
DO - 10.1007/978-3-031-32446-8_1
M3 - Conference contribution
AN - SCOPUS:85161240679
SN - 9783031324451
T3 - Mechanisms and Machine Science
SP - 3
EP - 12
BT - New Trends in Medical and Service Robotics - MESROB 2023
A2 - Tarnita, Daniela
A2 - Dumitru, Nicolae
A2 - Geonea, Ionut
A2 - Pisla, Doina
A2 - Carbone, Giuseppe
PB - Springer Science and Business Media B.V.
T2 - 8th International Workshop on New Trends in Medical and Service Robots, MESROB 2023
Y2 - 7 June 2023 through 10 June 2023
ER -