A Soft Robotic Phantom to Simulate the Dynamic Respiratory Motion of Human Liver

Hamid Naghibi, Paulo A.C. Costa, Momen Abayazid

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)

Abstract

In percutaneous interventions for hepatic tumor treatment, organ motion caused by respiration can lead to inaccurate needle placement hence less effective therapeutic and diagnostic outcome. The aim of this study was to implement soft robotics technology to develop an actuated phantom that mimics respiratory motion in liver for needle insertion procedures. The actuated liver phantom should be MR-compatible as it will be used for testing needle insertion devices and prototypes in an MRI environment while considering the respiratory motion of the liver. The soft-actuated robotic phantom can also be used for training clinicians on MRI-guided percutaneous needle interventions such as manual biopsy and ablation. Pneumatic soft actuators were design and implemented in the phantom to achieve a smooth motion similar to liver respiratory motion. In order to evaluate the performance of the phantom, three common breathing types were simulated, as well as a normal and two abnormal breathing patterns in patients. Moreover, a normal respiration was simulated with different phantom weights to be representative for different liver masses. The results revealed that the developed robotic simulator is sensitive to feeding air pressure and actuating time period, and to a less extend to the phantom mass. Based on five cycle repetitions, the simulator could reproduce different respirations with a maximal deviation of 3mm in superior, 2mm in inferior and less than 1mm in anterior-posterior directions.

Original languageEnglish
Title of host publicationBIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics
PublisherIEEE Computer Society
Pages577-582
Number of pages6
ISBN (Electronic)9781538681831
DOIs
Publication statusPublished - 11 Oct 2018
Event7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
: High Tech Human Touch
- University Campus, Enschede, Netherlands
Duration: 26 Aug 201829 Aug 2018
Conference number: 7
https://www.biorob2018.org/

Conference

Conference7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
Abbreviated titleBioRob
CountryNetherlands
CityEnschede
Period26/08/1829/08/18
Internet address

Fingerprint

Liver
Robotics
Needles
Magnetic resonance imaging
Simulators
Biopsy
Ablation
Pneumatics
Tumors
Actuators
Testing
Air

Cite this

Naghibi, H., Costa, P. A. C., & Abayazid, M. (2018). A Soft Robotic Phantom to Simulate the Dynamic Respiratory Motion of Human Liver. In BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (pp. 577-582). [8488115] IEEE Computer Society. https://doi.org/10.1109/BIOROB.2018.8488115
Naghibi, Hamid ; Costa, Paulo A.C. ; Abayazid, Momen. / A Soft Robotic Phantom to Simulate the Dynamic Respiratory Motion of Human Liver. BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. IEEE Computer Society, 2018. pp. 577-582
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title = "A Soft Robotic Phantom to Simulate the Dynamic Respiratory Motion of Human Liver",
abstract = "In percutaneous interventions for hepatic tumor treatment, organ motion caused by respiration can lead to inaccurate needle placement hence less effective therapeutic and diagnostic outcome. The aim of this study was to implement soft robotics technology to develop an actuated phantom that mimics respiratory motion in liver for needle insertion procedures. The actuated liver phantom should be MR-compatible as it will be used for testing needle insertion devices and prototypes in an MRI environment while considering the respiratory motion of the liver. The soft-actuated robotic phantom can also be used for training clinicians on MRI-guided percutaneous needle interventions such as manual biopsy and ablation. Pneumatic soft actuators were design and implemented in the phantom to achieve a smooth motion similar to liver respiratory motion. In order to evaluate the performance of the phantom, three common breathing types were simulated, as well as a normal and two abnormal breathing patterns in patients. Moreover, a normal respiration was simulated with different phantom weights to be representative for different liver masses. The results revealed that the developed robotic simulator is sensitive to feeding air pressure and actuating time period, and to a less extend to the phantom mass. Based on five cycle repetitions, the simulator could reproduce different respirations with a maximal deviation of 3mm in superior, 2mm in inferior and less than 1mm in anterior-posterior directions.",
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Naghibi, H, Costa, PAC & Abayazid, M 2018, A Soft Robotic Phantom to Simulate the Dynamic Respiratory Motion of Human Liver. in BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics., 8488115, IEEE Computer Society, pp. 577-582, 7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
, Enschede, Netherlands, 26/08/18. https://doi.org/10.1109/BIOROB.2018.8488115

A Soft Robotic Phantom to Simulate the Dynamic Respiratory Motion of Human Liver. / Naghibi, Hamid; Costa, Paulo A.C.; Abayazid, Momen.

BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. IEEE Computer Society, 2018. p. 577-582 8488115.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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N2 - In percutaneous interventions for hepatic tumor treatment, organ motion caused by respiration can lead to inaccurate needle placement hence less effective therapeutic and diagnostic outcome. The aim of this study was to implement soft robotics technology to develop an actuated phantom that mimics respiratory motion in liver for needle insertion procedures. The actuated liver phantom should be MR-compatible as it will be used for testing needle insertion devices and prototypes in an MRI environment while considering the respiratory motion of the liver. The soft-actuated robotic phantom can also be used for training clinicians on MRI-guided percutaneous needle interventions such as manual biopsy and ablation. Pneumatic soft actuators were design and implemented in the phantom to achieve a smooth motion similar to liver respiratory motion. In order to evaluate the performance of the phantom, three common breathing types were simulated, as well as a normal and two abnormal breathing patterns in patients. Moreover, a normal respiration was simulated with different phantom weights to be representative for different liver masses. The results revealed that the developed robotic simulator is sensitive to feeding air pressure and actuating time period, and to a less extend to the phantom mass. Based on five cycle repetitions, the simulator could reproduce different respirations with a maximal deviation of 3mm in superior, 2mm in inferior and less than 1mm in anterior-posterior directions.

AB - In percutaneous interventions for hepatic tumor treatment, organ motion caused by respiration can lead to inaccurate needle placement hence less effective therapeutic and diagnostic outcome. The aim of this study was to implement soft robotics technology to develop an actuated phantom that mimics respiratory motion in liver for needle insertion procedures. The actuated liver phantom should be MR-compatible as it will be used for testing needle insertion devices and prototypes in an MRI environment while considering the respiratory motion of the liver. The soft-actuated robotic phantom can also be used for training clinicians on MRI-guided percutaneous needle interventions such as manual biopsy and ablation. Pneumatic soft actuators were design and implemented in the phantom to achieve a smooth motion similar to liver respiratory motion. In order to evaluate the performance of the phantom, three common breathing types were simulated, as well as a normal and two abnormal breathing patterns in patients. Moreover, a normal respiration was simulated with different phantom weights to be representative for different liver masses. The results revealed that the developed robotic simulator is sensitive to feeding air pressure and actuating time period, and to a less extend to the phantom mass. Based on five cycle repetitions, the simulator could reproduce different respirations with a maximal deviation of 3mm in superior, 2mm in inferior and less than 1mm in anterior-posterior directions.

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Naghibi H, Costa PAC, Abayazid M. A Soft Robotic Phantom to Simulate the Dynamic Respiratory Motion of Human Liver. In BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. IEEE Computer Society. 2018. p. 577-582. 8488115 https://doi.org/10.1109/BIOROB.2018.8488115