Annals of Biomedical Engineering

, Volume 45, Issue 8, pp 1917–1928 | Cite as

An MRI-Guided Telesurgery System Using a Fabry-Perot Interferometry Force Sensor and a Pneumatic Haptic Device

  • Hao SuEmail author
  • Weijian Shang
  • Gang Li
  • Niravkumar Patel
  • Gregory S. Fischer


This paper presents a surgical master-slave teleoperation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. The slave robot consists of a piezoelectrically actuated 6-degree-of-freedom (DOF) robot for needle placement with an integrated fiber optic force sensor (1-DOF axial force measurement) using the Fabry-Perot interferometry (FPI) sensing principle; it is configured to operate inside the bore of the MRI scanner during imaging. By leveraging the advantages of pneumatic and piezoelectric actuation in force and position control respectively, we have designed a pneumatically actuated master robot (haptic device) with strain gauge based force sensing that is configured to operate the slave from within the scanner room during imaging. The slave robot follows the insertion motion of the haptic device while the haptic device displays the needle insertion force as measured by the FPI sensor. Image interference evaluation demonstrates that the telesurgery system presents a signal to noise ratio reduction of less than 17% and less than 1% geometric distortion during simultaneous robot motion and imaging. Teleoperated needle insertion and rotation experiments were performed to reach 10 targets in a soft tissue-mimicking phantom with 0.70 ± 0.35 mm Cartesian space error.


MRI-compatible robot MR-conditional Image-guided surgery Percutaneous interventions Haptics Teleoperation 



This work is supported in part by the Congressionally Directed Medical Research Programs Prostate Cancer Research Program New Investigator Award W81XWH-09-1-0191, NIH Bioengineering Research Partnership 1R01CA111288-01A1, and Link Foundation Fellowship in Advanced Simulation and Training.


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Copyright information

© Biomedical Engineering Society 2017

Authors and Affiliations

  1. 1.Wyss Institute for Biologically Inspired Engineering and the John A. Paulson School of Engineering and Applied SciencesHarvard UniversityCambridgeUSA
  2. 2.Automation and Interventional Medicine Robotics Laboratory, Department of Mechanical EngineeringWorcester Polytechnic InstituteWorcesterUSA

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