Extending physicians' reach with passive and transparent transmissions
Abstract/Contents
- Abstract
- Magnetic resonance (MR) offers safe, high contrast imaging of soft tissue inside the body, often superior to both ultrasound (US) and computed tomography (CT). Today, MRI is largely used for diagnostic and preoperative imaging with limited ability to leverage MRI as guidance during surgical intervention. Poor access inside the bore prohibits tool manipulation while patients remain inside the machine. During MRI-guided needle biopsies of organs such as the liver or prostate, patients are removed from inside the bore for needle insertion and adjustment. Robotic systems enable new capabilities in minimally invasive surgery and create opportunities for teleoperation. Remote access inside the MRI bore, with the patient remaining inside the scanner, would enable biopsies with real-time MRI guidance, improving procedure sensitivity and reducing duration. MRI compatibility requirements, however, significantly constrain the choice of technologies and materials used in systems designed for MRI applications. Researchers have explored novel pneumatic and piezoelectric actuators to create MRI compatible robots. While significant strides have been achieved, these devices do not provide haptic feedback and are controlled through on-screen interfaces, isolating physicians from direct control of the needle. A versatile device that provides high-fidelity force feedback and access deep inside the bore remains a challenge. This thesis explores a new approach to in-bore MRI guided biopsy that employs hydrostatic transmissions to extend physicians' reach inside the machine. The systems created are passive: all energy comes from the operator, with motions and forces mapping one-to-one between the input and output.
Description
| Type of resource | text |
|---|---|
| Form | electronic resource; remote; computer; online resource |
| Extent | 1 online resource. |
| Place | California |
| Place | [Stanford, California] |
| Publisher | [Stanford University] |
| Copyright date | 2021; ©2021 |
| Publication date | 2021; 2021 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Author | Frishman, Samuel |
|---|---|
| Degree supervisor | Cutkosky, Mark R |
| Thesis advisor | Cutkosky, Mark R |
| Thesis advisor | Daniel, Bruce (Bruce Lewis) |
| Thesis advisor | Okamura, Allison |
| Degree committee member | Daniel, Bruce (Bruce Lewis) |
| Degree committee member | Okamura, Allison |
| Associated with | Stanford University, Department of Mechanical Engineering |
Subjects
| Genre | Theses |
|---|---|
| Genre | Text |
Bibliographic information
| Statement of responsibility | Samuel Frishman. |
|---|---|
| Note | Submitted to the Department of Mechanical Engineering. |
| Thesis | Thesis Ph.D. Stanford University 2021. |
| Location | https://purl.stanford.edu/rz287qz6925 |
Access conditions
- Copyright
- © 2021 by Samuel Frishman
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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