High-Field MRI-Compatible Needle Placement Robot for Prostate Interventions
High-Field MRI-Compatible Needle Placement Robot for Prostate Interventions
复制标题
用于前列腺干预的高场 MRI 兼容置针机器人
DOI：
10.3233/978-1-60750-706-2-623
复制
发表时间：
2011
影响因子：
--
通讯作者：
G. Fischer
中科院分区：
文献类型：
--
作者：
Hao Su;A. Camilo;Gregory A. Cole;N. Hata;C. Tempany;G. Fischer
本文介绍了一种由压电驱动器驱动的用于前列腺近距离治疗和活检的磁共振成像（MRI）兼容的置针系统的设计。提出了一种与MRI兼容的模块化3自由度（DOF）针驱动器模块与3自由度x-y-z级耦合作为辅助机器人，在交互式MRI引导下精确递送放射性近距离治疗种子。针头驱动模块提供针头套管旋转、针头插入和套管收回，以实现预加载针头的近距离治疗程序。该装置通过两点抓取（轮毂和基座）模仿医生的手动手势，并通过光纤力传感器提供针插入力的直接力测量。提出了制造的原型，并在3T MRI上进行了模拟试验，以验证系统的兼容性。
This paper presents the design of a magnetic resonance imaging (MRI) compatible needle placement system actuated by piezoelectric actuators for prostate brachytherapy and biopsy. An MRI-compatible modular 3 degree-of-freedom (DOF) needle driver module coupled with a 3-DOF x-y-z stage is proposed as a slave robot to precisely deliver radioactive brachytherapy seeds under interactive MRI guidance. The needle driver module provides for needle cannula rotation, needle insertion and cannula retraction to enable the brachytherapy procedure with the preloaded needles. The device mimics the manual physician gesture by two point grasping (hub and base) and provides direct force measurement of needle insertion force by fiber optic force sensors. The fabricated prototype is presented and an experiment with phantom trials in 3T MRI is analyzed to demonstrate the system compatibility.
影响因子：
254.7
作者：
Jemal, Ahmedin;Siegel, Rebecca;Thun, Michael J.
通讯作者：
Thun, Michael J.