Concurrently bendable and rotatable continuum tubular robot for omnidirectional multi-core transurethral prostate biopsy

Xiao, Xiao1,2; Wu, Yifan2; Wu, Qinghui3; Ren, Hongliang2,4,5

2021-11-01

10.1007/s11517-021-02434-7

MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING   影响因子和分区

0140-0118

1741-0444

A transurethral prostate biopsy device is proposed in this paper, which can shoot a biopsy needle at different angles to take samples from multiple locations within the prostate. Firstly, the traditional prostate biopsy methods, including transrectal prostate biopsy and transperineal prostate biopsy, are introduced and compared. Then, the working principles of the new prostate biopsy procedure are illustrated. The designs of the needle bending system and the flexible needle are presented, and a proofs-of-concept study of the robotic biopsy device is demonstrated. Design parameters, material selection, and control unit are introduced. Experiments are carried out to test and demonstrate the functions of the prototype. Theoretical and measured bending angles are compared and analyzed. The bending system can effectively bend the biopsy needle to any angle between 15 and 45 degrees. The penetration force of the biopsy needle decreases with the increase of the bending angle. The range of rotation of the bending system on one hemisphere is +/- 25 degrees. Together with the translational motion, the biopsy needle can reach any point within the workspace. Finally, a phantom test and a cadaver experiment were carried out to simulate biopsy.

Medical robotics Prostate biopsy Transurethral procedures Bendable biopsy needle

SCI ; EI

英语

第一

National Key R&D Program of China from the Ministry of Science and Technology (MOST) of China["2018YFB1307700","2018YFB1307703"] ; Shun Hing Institute of Advanced Engineering (SHIAE project) at the Chinese University of Hong Kong (CUHK)["BME-p1-21",8115064] ; Singapore Academic Research Fund[R397000353114]

Computer Science ; Engineering ; Mathematical & Computational Biology ; Medical Informatics

Computer Science, Interdisciplinary Applications ; Engineering, Biomedical ; Mathematical & Computational Biology ; Medical Informatics

WOS:000721677500001

SPRINGER HEIDELBERG

20214811233403

Needles ; Robotics ; Urology

Medicine and Pharmacology:461.6 ; Robotics:731.5

ENGINEERING

Web of Science

1.Southern Univ Sci & Technol, Dept Elect & Elect Engn, Shenzhen 518055, Peoples R China
2.Natl Univ Singapore, Dept Biomed Engn, 9 Engn Dr 1, Singapore 117575, Singapore
3.Natl Univ Singapore Hosp, Dept Urol, Singapore 119074, Singapore
4.Chinese Univ Hong Kong, Dept Elect Engn, Hong Kong 999077, Peoples R China
5.NUS Suzhou Res Inst NUSRI, Suzhou 215123, Peoples R China

Xiao, Xiao,Wu, Yifan,Wu, Qinghui,et al. Concurrently bendable and rotatable continuum tubular robot for omnidirectional multi-core transurethral prostate biopsy[J]. MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING,2021,60:229-238.

Xiao, Xiao,Wu, Yifan,Wu, Qinghui,&Ren, Hongliang.(2021).Concurrently bendable and rotatable continuum tubular robot for omnidirectional multi-core transurethral prostate biopsy.MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING,60,229-238.

Xiao, Xiao,et al."Concurrently bendable and rotatable continuum tubular robot for omnidirectional multi-core transurethral prostate biopsy".MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING 60(2021):229-238.