Design and Development of a Mobile Robotic CT System for Intraoperative Use
This paper presents the design of a mobile robotic computed tomography (CT) system for intraoperative use. In particular, this paper presents a novel gantry mechanism and a novel mechanism generating isocentric motions. The developed system mechanically consists of a gantry and a mobile robotic body...
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| Veröffentlicht in: | IEEE/ASME transactions on mechatronics 2019-02, Vol.24 (1), p.395-405 |
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| creator | Kim, Michael D. Lee, Kwang-Hee Lee, Sang-Moo Koo, Ja Choon Ji, Sang-Hoon |
| description | This paper presents the design of a mobile robotic computed tomography (CT) system for intraoperative use. In particular, this paper presents a novel gantry mechanism and a novel mechanism generating isocentric motions. The developed system mechanically consists of a gantry and a mobile robotic body. The gantry contains the X-ray modules and has an opening mechanism that enables full 360{^\circ } rotation. The robotic body is capable of one vertical and two isocentric rotational motions used to position the gantry. Unlike existing C-arms and mobile CT scanners, each isocentric motion is achieved using a single-DOF mechanism. With these robotic motions, the mobile robotic CT system can be used intraoperatively in both CT and fluoroscopic imaging modes. The mobile platform enables installation and removal of the device from a surgical bed. The performance of the proposed system was investigated using a laser tracking system. Experimental results show that no significant vibrations or position deviations of the X-ray modules were observed during the CT scanning motion. |
| doi_str_mv | 10.1109/TMECH.2018.2890744 |
| format | Article |
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In particular, this paper presents a novel gantry mechanism and a novel mechanism generating isocentric motions. The developed system mechanically consists of a gantry and a mobile robotic body. The gantry contains the X-ray modules and has an opening mechanism that enables full 360<inline-formula><tex-math notation="LaTeX">{^\circ }</tex-math></inline-formula> rotation. The robotic body is capable of one vertical and two isocentric rotational motions used to position the gantry. Unlike existing C-arms and mobile CT scanners, each isocentric motion is achieved using a single-DOF mechanism. With these robotic motions, the mobile robotic CT system can be used intraoperatively in both CT and fluoroscopic imaging modes. The mobile platform enables installation and removal of the device from a surgical bed. The performance of the proposed system was investigated using a laser tracking system. Experimental results show that no significant vibrations or position deviations of the X-ray modules were observed during the CT scanning motion.</description><identifier>ISSN: 1083-4435</identifier><identifier>EISSN: 1941-014X</identifier><identifier>DOI: 10.1109/TMECH.2018.2890744</identifier><identifier>CODEN: IATEFW</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Belts ; Computed tomography ; Computed tomography (CT) ; Fluoroscopic imaging ; full-scan ; isocentric motion ; Mobile computing ; Modules ; opening gantry ; Pulleys ; robotic CT ; Robotics ; Rotating bodies ; Scanners ; Service robots ; Tracking systems ; X-ray ; X-ray imaging</subject><ispartof>IEEE/ASME transactions on mechatronics, 2019-02, Vol.24 (1), p.395-405</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2019</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c295t-733dd8abd38bce100fad33652b2942200f7f13823019f0af40011844b76aca773</citedby><cites>FETCH-LOGICAL-c295t-733dd8abd38bce100fad33652b2942200f7f13823019f0af40011844b76aca773</cites><orcidid>0000-0003-4273-2405 ; 0000-0003-0960-1307</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/8600379$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/8600379$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Kim, Michael D.</creatorcontrib><creatorcontrib>Lee, Kwang-Hee</creatorcontrib><creatorcontrib>Lee, Sang-Moo</creatorcontrib><creatorcontrib>Koo, Ja Choon</creatorcontrib><creatorcontrib>Ji, Sang-Hoon</creatorcontrib><title>Design and Development of a Mobile Robotic CT System for Intraoperative Use</title><title>IEEE/ASME transactions on mechatronics</title><addtitle>TMECH</addtitle><description>This paper presents the design of a mobile robotic computed tomography (CT) system for intraoperative use. In particular, this paper presents a novel gantry mechanism and a novel mechanism generating isocentric motions. The developed system mechanically consists of a gantry and a mobile robotic body. The gantry contains the X-ray modules and has an opening mechanism that enables full 360<inline-formula><tex-math notation="LaTeX">{^\circ }</tex-math></inline-formula> rotation. The robotic body is capable of one vertical and two isocentric rotational motions used to position the gantry. Unlike existing C-arms and mobile CT scanners, each isocentric motion is achieved using a single-DOF mechanism. With these robotic motions, the mobile robotic CT system can be used intraoperatively in both CT and fluoroscopic imaging modes. The mobile platform enables installation and removal of the device from a surgical bed. The performance of the proposed system was investigated using a laser tracking system. Experimental results show that no significant vibrations or position deviations of the X-ray modules were observed during the CT scanning motion.</description><subject>Belts</subject><subject>Computed tomography</subject><subject>Computed tomography (CT)</subject><subject>Fluoroscopic imaging</subject><subject>full-scan</subject><subject>isocentric motion</subject><subject>Mobile computing</subject><subject>Modules</subject><subject>opening gantry</subject><subject>Pulleys</subject><subject>robotic CT</subject><subject>Robotics</subject><subject>Rotating bodies</subject><subject>Scanners</subject><subject>Service robots</subject><subject>Tracking systems</subject><subject>X-ray</subject><subject>X-ray imaging</subject><issn>1083-4435</issn><issn>1941-014X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2019</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kE1LAzEQhoMoWKt_QC8Bz1snH9tkj9JWW2wRtAVvIbs7kS3tZk22hf57t7Z4mhl4nxnmIeSewYAxyJ6Wi8loOuDA9IDrDJSUF6THMskSYPLrsutBi0RKkV6TmxjXACAZsB55G2Osvmtq65KOcY8b32yxbql31NKFz6sN0g-f-7Yq6GhJPw-xxS11PtBZ3QbrGwy2rfZIVxFvyZWzm4h359onq5fJcjRN5u-vs9HzPCl4lraJEqIstc1LofMCGYCzpRDDlOc8k5x3s3JMaC6AZQ6skwCMaSlzNbSFVUr0yeNpbxP8zw5ja9Z-F-rupOFdMFXd-6JL8VOqCD7GgM40odracDAMzFGa-ZNmjtLMWVoHPZygChH_AT0EECoTv0xuZqU</recordid><startdate>201902</startdate><enddate>201902</enddate><creator>Kim, Michael D.</creator><creator>Lee, Kwang-Hee</creator><creator>Lee, Sang-Moo</creator><creator>Koo, Ja Choon</creator><creator>Ji, Sang-Hoon</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0000-0003-4273-2405</orcidid><orcidid>https://orcid.org/0000-0003-0960-1307</orcidid></search><sort><creationdate>201902</creationdate><title>Design and Development of a Mobile Robotic CT System for Intraoperative Use</title><author>Kim, Michael D. ; Lee, Kwang-Hee ; Lee, Sang-Moo ; Koo, Ja Choon ; Ji, Sang-Hoon</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c295t-733dd8abd38bce100fad33652b2942200f7f13823019f0af40011844b76aca773</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2019</creationdate><topic>Belts</topic><topic>Computed tomography</topic><topic>Computed tomography (CT)</topic><topic>Fluoroscopic imaging</topic><topic>full-scan</topic><topic>isocentric motion</topic><topic>Mobile computing</topic><topic>Modules</topic><topic>opening gantry</topic><topic>Pulleys</topic><topic>robotic CT</topic><topic>Robotics</topic><topic>Rotating bodies</topic><topic>Scanners</topic><topic>Service robots</topic><topic>Tracking systems</topic><topic>X-ray</topic><topic>X-ray imaging</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Kim, Michael D.</creatorcontrib><creatorcontrib>Lee, Kwang-Hee</creatorcontrib><creatorcontrib>Lee, Sang-Moo</creatorcontrib><creatorcontrib>Koo, Ja Choon</creatorcontrib><creatorcontrib>Ji, Sang-Hoon</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>IEEE/ASME transactions on mechatronics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kim, Michael D.</au><au>Lee, Kwang-Hee</au><au>Lee, Sang-Moo</au><au>Koo, Ja Choon</au><au>Ji, Sang-Hoon</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Design and Development of a Mobile Robotic CT System for Intraoperative Use</atitle><jtitle>IEEE/ASME transactions on mechatronics</jtitle><stitle>TMECH</stitle><date>2019-02</date><risdate>2019</risdate><volume>24</volume><issue>1</issue><spage>395</spage><epage>405</epage><pages>395-405</pages><issn>1083-4435</issn><eissn>1941-014X</eissn><coden>IATEFW</coden><abstract>This paper presents the design of a mobile robotic computed tomography (CT) system for intraoperative use. In particular, this paper presents a novel gantry mechanism and a novel mechanism generating isocentric motions. The developed system mechanically consists of a gantry and a mobile robotic body. The gantry contains the X-ray modules and has an opening mechanism that enables full 360<inline-formula><tex-math notation="LaTeX">{^\circ }</tex-math></inline-formula> rotation. The robotic body is capable of one vertical and two isocentric rotational motions used to position the gantry. Unlike existing C-arms and mobile CT scanners, each isocentric motion is achieved using a single-DOF mechanism. With these robotic motions, the mobile robotic CT system can be used intraoperatively in both CT and fluoroscopic imaging modes. The mobile platform enables installation and removal of the device from a surgical bed. The performance of the proposed system was investigated using a laser tracking system. Experimental results show that no significant vibrations or position deviations of the X-ray modules were observed during the CT scanning motion.</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TMECH.2018.2890744</doi><tpages>11</tpages><orcidid>https://orcid.org/0000-0003-4273-2405</orcidid><orcidid>https://orcid.org/0000-0003-0960-1307</orcidid></addata></record> |
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| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Belts Computed tomography Computed tomography (CT) Fluoroscopic imaging full-scan isocentric motion Mobile computing Modules opening gantry Pulleys robotic CT Robotics Rotating bodies Scanners Service robots Tracking systems X-ray X-ray imaging |
| title | Design and Development of a Mobile Robotic CT System for Intraoperative Use |
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