Skip to main content Accessibility help

Kinematic analysis of a 5-DOF hybrid-driven MR compatible robot for minimally invasive prostatic interventions

  • Shan Jiang (a1), Jie Guo (a1), Shen Liu (a1), Jun Liu (a2) and Jun Yang (a2)...


This paper introduces the design and kinematic analysis of a 5-DOF (multiple degree of freedom) hybrid-driven MR (Magnetic Resonance) compatible robot for prostate brachytherapy. It can slip the leash of template and rely on the high precise of MR imaging. After a brief introduction on design requirements of MR compatible robot, a description of our robot structure, material selection, hybrid-driven, and control architecture are presented. Secondly, the forward kinematics equations are obtained according to the equivalent diagram of this robot, and the actual workspace can be outlined. This will help the designer to determine whether this robot can be operated in the MR core without intervention with patient. And then, the inverse kinematics equations combined with trajectory planning are used to calculate the actuators movement. This will help the control system to manipulate the robotic accurately. Finally, vision based experiments on phantoms are used to verify the mechanism precision. As the results shown, the needle tip precision of mechanism is 0.9 mm in the general lab environment.


Corresponding author

*Corresponding author. E-mail:


Hide All
1.Jemal, A., Siegel, R., Ward, E., Hao, Y. P., Xu, J. Q. and Thun, M. J., “Cancer statistics,” CA Cancer J. Clin. 59, 225249 (2009).
2.Tornes, A. and Eriksen, M., “A new brachytherapy seed design for improved ultrasound visualisation,” Ultrasonics 2, 12781283 (2009).
3.Jiang, S., Hata, N. and Kikinis, R., “Needle Insertion Simulation for Image-Guided Brachytherapy of Prostate Cancer,” International Conference of Bioinformatics Biomedical Engineering, iCBBE (2008) pp. 1682–1685.
4.Krieger, A., Susil, R. C., Menard, C., Fichtinger, G., Atalar, E. and Whitcomb, L., “Design of a novel MRI compatible manipulator for image guided prostate interventions,” IEEE Trans. Biomed. Eng. 52 (2), 306313 (2005).
5.Lin, L. Y., Patel, R. R., Thomadsen, B. R. and Henderson, D. L., “The use of directional interstitial sources to improve dosimetry in breast brachytherapy,” Med. Phys. 35 (1), 240247 (2008).
6.Meltsner, M. A., Design and Optimization of a Brachytherapy Robot Ph.D. Dissertation (Madison, WI: University of Wisconsin, 2007).
7.Shiow, C. S., Huang, C. C. and Chen, C. S., “Development of image-guided robotic system for surgical positioning and drilling,” Robotica 55, 375383 (2007).
8.Dai, J. S., “Surgical robotics and its development and progress,” Robotica 28, 161 (2010).
9.Goldenberg, A. A., Trachtenberg, J., Yi, Y., Weersink, R., Sussman, M. S., Haider, M., Ma, L. and Kucharczyk, W., “Robot-assisted MRI-guided prostatic interventions,” Robotica 28, 215234 (2010).
10.Liu, D., Wang, T. M., Tang, C. and Zhang, F., “A hybrid robot system for CT-guided surgery,” Robotica 28, 253258 (2010).
11.Huang, Q., Bian, G. B., Duan, X. G., Zhao, H. H. and Liang, P., “An ultrasound-directed robotic system for microwave ablation of liver cancer,” Robotica 28, 209214 (2010).
12.Bassan, H., Hayes, T., Patel, R. V. and Moallem, M., “A Novel Manipulator for 3D Ultrasound Guided Percutaneous Needle Insertion,” Proceedings of IEEE International Conference on Robotic and Automation, Roma, Italy (2007) pp. 617622.
13.Salcudean, S. E., Prananta, T. D., Morris, W. J. and Spadinger, I., “A Robotic Needle Guide for Prostate Brachytherapy,” Proceedings of IEEE International Conference on Robotics and Automation, Pasadena, CA (2008) pp. 29752981.
14.Yu, Y., Podder, T., Zhang, Y. D., Ng, W S., Misic, V., Sherman, J., Fu, L., Fuller, D., Rubens, D. J., Strang, J. D., Brasacchio, R. A. and Messing, E. M., “Robot-assisted prostate brachytherapy,” Med. Image Comput. Comput. Assist. Interv. 9 (1), 4149 (2007).
15.Yu, K. K. and Hricak, H., “Imaging prostate cancer,” Radiol. Clin. North Am. 38 (1), 5985 (2000).
16.Stoianovici, D., Song, D., Petrisor, D., Ursu, D., Mazilu, D., Mutener, M., Schar, M. and Patriciu, A., “MRI stealth robot for prostate interventions,” Minim. Invasive Ther. 16 (4), 241248 (2007).
17.Fischer, G. S., Iordachita, J. and Fichtinger, G., “Design of a robot for transperineal prostate needle placement in MRI scanner,” Mechatronics Conference on Digital Object Identifier (2006) pp. 592–597.
18.Song, S. E., Cho, N. B., Fischer, G., Hata, N., Tempany, C., Fichtinger, G. and Iordachita, I., “Development of a pneumatic robot for MRI-guided transperineal prostate biopsy and brachytherapy: New approaches,” IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA (2010) pp. 25802585.
19.Haker, S., Mulkem, R. V., Roebuck, J. R., Roebuck, J. R., Barnes, A. S., DiMaio, S., Hata, N. and Tempany, C., “Magnetic resonance-guided prostate interventions,” J. Magn. Reson. Imaging 16, 355682 (2005).
20.Taschereau, R., Pouliot, J., Jean, T. and Tremblay, D., “Seed misplacement and stabilizing needles in transperineal permanent prostate implants,” Radiother. Oncol. 55, 593631 (2000).
21.Alterovitz, R., Goldberg, K. Y, Pouliot, J and Hsu, I. C.Sensorless planning for medical needle insertion in deformable tissues,” IEEE T Inf. Technol. B 13 (2), 217225 (2009).
22.Jiang, S., Liu, X. Y. and Song, Y. C., “3D Trajectory Planning Based on FEM with Application of Brachytherapy,” Proceedings of International Conference Biomedical Engineering Informatics, BMEI, Tianjin, China (2009) pp. 15.


Related content

Powered by UNSILO

Kinematic analysis of a 5-DOF hybrid-driven MR compatible robot for minimally invasive prostatic interventions

  • Shan Jiang (a1), Jie Guo (a1), Shen Liu (a1), Jun Liu (a2) and Jun Yang (a2)...


Full text views

Total number of HTML views: 0
Total number of PDF views: 0 *
Loading metrics...

Abstract views

Total abstract views: 0 *
Loading metrics...

* Views captured on Cambridge Core between <date>. This data will be updated every 24 hours.

Usage data cannot currently be displayed.