An image-guided automated robot for MRI breast biopsy
An image-guided automated robot for MRI breast biopsy
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DOI：
10.1002/rcs.1760
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发表时间：
2016-09-01
影响因子：
2.5
通讯作者：
Anvari, Mehran
中科院分区：
文献类型：
--
作者：
Chan, Kathryn G.;Fielding, Tim;Anvari, Mehran
背景IGAR（图像引导自动化机器人）是一种能够在图像引导下执行高度准确的临床干预的机器人平台。IGAR的独特之处在于，它证明了MRI兼容性，并保持安全操作，足够的屏蔽，高图像质量和精确的机器人控制，即使在成像环境中。IGAR最初用于乳腺活检。方法测试抛射体的危害，加热，信噪比损失，和几何失真被用来证明MR兼容性。机器人系统的精度和重复性在台式模型上进行了测试，以建立精度的基线。结果IGAR的平均精度为0.34 mm，重复性为0.2 mm。没有明显的变形归因于机器人，没有抛射风险，结论IGAR系统在MRI环境中安全有效Copyright（C）2016 John Wiley & Sons，Ltd.
Background The IGAR (Image-guided Automated Robot) is a robotic platform capable of performing highly accurate clinical interventions under image guidance. The IGAR is unique in that it demonstrates MRI compatibility and maintains safe operation, adequate shielding, high image quality, and accurate robotic control even while in an imaging environment. The IGAR is initially intended for breast biopsy.Methods Tests for projectile hazards, heating, signal-to-noise ratio loss, and geometric distortion were used to demonstrate MR compatibility. Accuracy and repeatability of the robotic system were tested on benchtop models to establish a baseline of precision.Results The IGAR averaged an accuracy of 0.34 mm and a repeatability of 0.2 mm. There was no significant distortion attributable to the robot, no projectile risk, and no unacceptable levels of heating.Conclusion The IGAR system is safe and effective in an MRI environment Copyright (C) 2016 John Wiley & Sons, Ltd.