Towards the development of a low-cost minimally invasive highly articulated MRI-compatible neurosurgical robot

Sagar Chowdhury; Jaydev P. Desai; Mahamadou Diakite; Taehoon Shin; Rao P. Gullapalli; Satyandra K. Gupta

doi:10.1115/DSCC2014-6075

Towards the development of a low-cost minimally invasive highly articulated MRI-compatible neurosurgical robot

Sagar Chowdhury, Jaydev P. Desai, Mahamadou Diakite, Taehoon Shin, Rao P. Gullapalli, Satyandra K. Gupta

Department of Mechanical & Biomedical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Treatment for deeply seated brain tumors requires developing articulated surgical robots that are capable of navigating through narrow spaces with minimal damage to the surrounding tissues. These robots need to be lowcost to make them patient-specific as well as to reduce the health-care cost. This in turn requires lowering the manufacturing costs of the robots so that robots can be discarded after the surgical procedure. Injection molding is a mass manufacturing process for making low-cost plastic parts. We have developed a four degree-of-freedom surgical robot with multiple joints that can be manufactured using injection molding. We have designed a novel compliant mechanism to provide multiple articulated joints. The robot is currently actuated with servo motors located outside the robot that drive the joints using passive cables. Cables are routed through the robot to reduce the cross coupling between the joints and enable independent joint actuation. By detaching the actuation from the robot structure, we have made the robot suitable for operating under continuous magnetic resonance imaging (MRI).

Original language	English
Title of host publication	Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy
Publisher	American Society of Mechanical Engineers
ISBN (Electronic)	9780791846209
DOIs	https://doi.org/10.1115/DSCC2014-6075
State	Published - 2014
Event	ASME 2014 Dynamic Systems and Control Conference, DSCC 2014 - San Antonio, United States Duration: 22 Oct 2014 → 24 Oct 2014

Publication series

Name	ASME 2014 Dynamic Systems and Control Conference, DSCC 2014
Volume	3

Conference

Conference	ASME 2014 Dynamic Systems and Control Conference, DSCC 2014
Country/Territory	United States
City	San Antonio
Period	22/10/14 → 24/10/14

Bibliographical note

Publisher Copyright:
© 2014 by ASME.

Access to Document

10.1115/DSCC2014-6075

Cite this

Chowdhury, S., Desai, J. P., Diakite, M., Shin, T., Gullapalli, R. P., & Gupta, S. K. (2014). Towards the development of a low-cost minimally invasive highly articulated MRI-compatible neurosurgical robot. In Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy (ASME 2014 Dynamic Systems and Control Conference, DSCC 2014; Vol. 3). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2014-6075

Chowdhury, Sagar ; Desai, Jaydev P. ; Diakite, Mahamadou et al. / Towards the development of a low-cost minimally invasive highly articulated MRI-compatible neurosurgical robot. Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy. American Society of Mechanical Engineers, 2014. (ASME 2014 Dynamic Systems and Control Conference, DSCC 2014).

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title = "Towards the development of a low-cost minimally invasive highly articulated MRI-compatible neurosurgical robot",

abstract = "Treatment for deeply seated brain tumors requires developing articulated surgical robots that are capable of navigating through narrow spaces with minimal damage to the surrounding tissues. These robots need to be lowcost to make them patient-specific as well as to reduce the health-care cost. This in turn requires lowering the manufacturing costs of the robots so that robots can be discarded after the surgical procedure. Injection molding is a mass manufacturing process for making low-cost plastic parts. We have developed a four degree-of-freedom surgical robot with multiple joints that can be manufactured using injection molding. We have designed a novel compliant mechanism to provide multiple articulated joints. The robot is currently actuated with servo motors located outside the robot that drive the joints using passive cables. Cables are routed through the robot to reduce the cross coupling between the joints and enable independent joint actuation. By detaching the actuation from the robot structure, we have made the robot suitable for operating under continuous magnetic resonance imaging (MRI).",

author = "Sagar Chowdhury and Desai, {Jaydev P.} and Mahamadou Diakite and Taehoon Shin and Gullapalli, {Rao P.} and Gupta, {Satyandra K.}",

note = "Publisher Copyright: {\textcopyright} 2014 by ASME.; ASME 2014 Dynamic Systems and Control Conference, DSCC 2014 ; Conference date: 22-10-2014 Through 24-10-2014",

year = "2014",

doi = "10.1115/DSCC2014-6075",

language = "English",

series = "ASME 2014 Dynamic Systems and Control Conference, DSCC 2014",

publisher = "American Society of Mechanical Engineers",

booktitle = "Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy",

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Chowdhury, S, Desai, JP, Diakite, M, Shin, T, Gullapalli, RP & Gupta, SK 2014, Towards the development of a low-cost minimally invasive highly articulated MRI-compatible neurosurgical robot. in Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy. ASME 2014 Dynamic Systems and Control Conference, DSCC 2014, vol. 3, American Society of Mechanical Engineers, ASME 2014 Dynamic Systems and Control Conference, DSCC 2014, San Antonio, United States, 22/10/14. https://doi.org/10.1115/DSCC2014-6075

Towards the development of a low-cost minimally invasive highly articulated MRI-compatible neurosurgical robot. / Chowdhury, Sagar; Desai, Jaydev P.; Diakite, Mahamadou et al.
Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy. American Society of Mechanical Engineers, 2014. (ASME 2014 Dynamic Systems and Control Conference, DSCC 2014; Vol. 3).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Chowdhury S, Desai JP, Diakite M, Shin T, Gullapalli RP, Gupta SK. Towards the development of a low-cost minimally invasive highly articulated MRI-compatible neurosurgical robot. In Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy. American Society of Mechanical Engineers. 2014. (ASME 2014 Dynamic Systems and Control Conference, DSCC 2014). doi: 10.1115/DSCC2014-6075

Towards the development of a low-cost minimally invasive highly articulated MRI-compatible neurosurgical robot

Abstract

Publication series

Conference

Bibliographical note

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