A prototype manipulator for magnetic resonance-guided interventions inside standard cylindrical magnetic resonance imaging scanners.
A prototype manipulator for magnetic resonance-guided interventions inside standard cylindrical magnetic resonance imaging scanners.
复制标题
用于标准圆柱形磁共振成像扫描仪内磁共振引导干预的原型机械手。
DOI：
10.1115/1.2049339
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
Christoforou,Eftychios
中科院分区：
文献类型：
--
作者：
Tsekos,NikolaosV;Ozcan,Alpay;Christoforou,Eftychios
这项工作的目的是开发一种远程控制的机械手，在临床圆柱形磁共振扫描仪内实时磁共振成像（MRI）指导下，对腹腔和胸腔进行微创诊断和治疗干预。该机械手由位于扫描仪龙门外的三自由度笛卡尔运动系统组成，并作为在扫描仪龙门内延伸的三自由度臂的持持器和全局定位器。在它的远端，手臂的末端执行器可以携带一个介入工具，如活组织检查针，它可以通过七自由度的方式推进到所需的深度。这七个自由度由整个组件提供，为设备提供了扩展的可操作性，并为用户提供了广泛的操作范围，用户可以选择适合该程序的轨迹。该装置由非磁性和不导电的玻璃纤维和碳纤维复合材料构成，可以最大限度地减少MR图像上的伪影和畸变，并消除MR成像中使用的高磁场和快速切换磁场梯度对其操作的影响。开发了一个用户界面，用于使用实时MR图像对设备进行人在环控制。用户界面将所有传感器信号（MR和机械手信息）融合在可视化、规划和控制命令环境中。路径规划是通过图形工具执行的，用于设置介入工具的插入轨迹，使用实时刷新的多层和∕或三维MR图像。该装置的控制由一台运行实时控制软件的嵌入式计算机执行。在磁共振扫描仪上测试了机械臂与磁共振环境和图像引导操作的兼容性。
The aim of this work is to develop a remotely controlled manipulator to perform minimally invasive diagnostic and therapeutic interventions in the abdominal and thoracic cavities, with real-time magnetic resonance imaging (MRI) guidance inside clinical cylindrical MR scanners. The manipulator is composed of a three degree of freedom Cartesian motion system, which resides outside the gantry of the scanner, and serves as the holder and global positioner of a three degree of freedom arm which extends inside the gantry of the scanner. At its distal end, the arm’s end-effector can carry an interventional tool such as a biopsy needle, which can be advanced to a desired depth by means of a seventh degree of freedom. These seven degrees of freedom, provided by the entire assembly, offer extended manipulability to the device and a wide envelope of operation to the user, who can select a trajectory suitable for the procedure. The device is constructed of nonmagnetic and nonconductive fiberglass, and carbon fiber composite materials, to minimize artifacts and distortion on the MR images as well as eliminate effects on its operation from the high magnetic field and the fast switching magnetic field gradients used in MR imaging. A user interface was developed for man-in-the-loop control of the device using real-time MR images. The user interface fuses all sensor signals (MR and manipulator information) in a visualization, planning, and control command environment. Path planning is performed with graphical tools for setting the trajectory of insertion of the interventional tool using multislice and∕or three dimensional MR images which are refreshed in real time. The device control is performed with an embedded computer which runs real-time control software. The manipulator compatibility with the MR environment and image-guided operation was tested on aMR scanner.