Publications by authors named "Anthony L Gunderman"
MRI-Conditional Eccentric-Tube Injection Needle: Design, Fabrication, and Animal Trial.
IEEE ASME Trans Mechatron
August 2023
Effective radiation therapy aims to maximize the radiation dose delivered to the tumor while minimizing damage to the surrounding healthy tissues, which can be a challenging task when the tissue-tumor space is small. To eliminate the damage to healthy tissue, it is now possible to inject biocompatible hydrogels between cancerous targets and surrounding tissues to create a spacer pocket. Conventional methods have limitations in poor target visualization and device tracking.
View Article and Find Full Text PDFInfusion-related iatrogenic retinal breaks (IRBs) are a significant complication in vitrectomies, particularly when smaller-gauge cannulas are used during fluid infusion. Using two-dimensional finite element analysis (FEA), we analyzed forces exerted on the retina from different cannulas: traditional 25-gauge, 20-gauge, 23-gauge, and 27-gauge, then investigated four alternative new cannula designs: (A) oblique orifices, (B) external obstruction, (C) side ports, and (D) perpendicular orifices. The analysis revealed that the standard 25-gauge cannula had a force of 0.
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- Stereotactic neurosurgery is a precise surgical approach used to treat conditions like intracerebral hemorrhage (ICH), allowing for targeted interventions.
- * The NICE-Aiming device is a new frameless stereotactic tool designed for real-time MR-guided robotic interventions, enhancing the accuracy of ICH treatments.
- * In experiments, the NICE-Aiming showed impressive targeting accuracy and effectively reduced the hematoma volume in both phantom and ovine head models.
Modeling and Control of an MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME).
IEEE ASME Trans Mechatron
June 2024
Article Synopsis
- This article discusses the development of MR-safe (magnetic resonance safe) actuators and encoders for use in robotic systems guided by MRI technology.
- The authors created a detailed model that accounts for various dynamic elements of the system, including the motor, pneumatic transmission, and valves, and then validated this model.
- The performance of the MR-safe motor was tested in a 7T MRI environment without causing any image distortion, suggesting that this technology could encourage more researchers to explore MR-guided robotics.
Article Synopsis
- MR-guided microwave ablation (MWA) is effective for treating small hepatocellular carcinoma (HCC) tumors, but manual needle insertion often leads to inaccuracies in the procedure.
- This paper introduces a compact MR-conditional robot designed to enhance needle guidance, featuring stacked Cartesian XY stages with pneumatic actuation for precise control.
- Initial experiments show a needle insertion accuracy of 2.6 ± 1.3 mm at an 80 mm depth, and future developments will aim to optimize the system and conduct animal trials for further validation.
Objective: Implanted Cardioverter Defibrillators (ICDs) induce a large (100 parts per million) inhomogeneous magnetic field in the magnetic resonance imaging (MRI) scanner which cannot be corrected by the scanner's built-in shim coils, leading to significant image artifacts that can make portions of the heart unreadable. To compensate for the field inhomogeneity, an active shim coil capable of countering the field deviation in user-defined regions was designed that must be optimally placed at patient-specific locations. We aim to develop and evaluate an MR-safe robotic solution for automated shim coil positioning.
View Article and Find Full Text PDFActuators and encoders used in MR-guided robotic interventions are subject to strict requirements to ensure patient safety and MR imaging quality. In this paper, we present an open source computer aided design (CAD) of our MR-safe Pneumatic Radial Inflow Motor and Encoder (PRIME). PRIME is a parametrically designed motor that enables scalability based on torque and speed requirements for a wide range of MR-guided robotic procedures.
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- The study focused on developing a magnetic resonance (MR)-conditional concentric tube robot designed for safely evacuating intracerebral hemorrhages (ICH).
- The robot was created using plastic tubes and pneumatic motors, with its accuracy tested using a sophisticated control algorithm, showing promising results in precision and effectiveness during experiments.
- The findings suggest that the robot can significantly improve ICH evacuation outcomes under MRI guidance, showing potential for future applications in live animal studies.
MR-Tracked Deflectable Stylet for Gynecologic Brachytherapy.
IEEE ASME Trans Mechatron
February 2022
Brachytherapy is a radiation based treatment that is implemented by precisely placing focused radiation sources into tumors. In advanced interstitial cervical cancer bracytherapy treatment, this is performed by placing a metallic rod ("stylet") inside a hollow cylindrical tube ("catheter") and advancing the pair to the desired target. The stylet is removed once the target is reached, followed by the insertion of radiation sources into the catheter.
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