Robot-assisted needle placement in open MRI: System architecture, integration and validation
Robot-assisted needle placement in open MRI: System architecture, integration and validation
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DOI：
10.1080/10929080601168254
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发表时间：
2007-01-01
影响因子：
--
通讯作者：
Kikins, R.
中科院分区：
文献类型：
--
作者：
Dimaio, S. P.;Pieper, S.;Kikins, R.
在前列腺癌的治疗中，有一种针对活检和治疗的靶向干预的趋势，这促使对精确的图像引导方法进行针头放置的需求。本文描述了一种在核磁共振引导下利用机器人辅助计划和执行经皮手术的集成系统。图形化的计划界面允许医生根据患者在手术前和手术前的MR图像中观察到的解剖结构和病变，在介入开孔MRI扫描仪之前指定所需的针轨迹集。所有图像空间坐标都是自动计算的，并通过与MRI兼容的机器人操作器用于定位针导，从而避免了传统固定针模板的限制。当针通过导向器手动插入时，实时术中图像的自动对准有助于针的可视化。提供了扫描仪内体模实验的结果。
In prostate cancer treatment, there is a move toward targeted interventions for biopsy and therapy, which has precipitated the need for precise image-guided methods for needle placement. This paper describes an integrated system for planning and performing percutaneous procedures with robotic assistance under MRI guidance. A graphical planning interface allows the physician to specify the set of desired needle trajectories, based on anatomical structures and lesions observed in the patient's registered pre-operative and pre-procedural MR images, immediately prior to the intervention in an open-bore MRI scanner. All image-space coordinates are automatically computed, and are used to position a needle guide by means of an MRI-compatible robotic manipulator, thus avoiding the limitations of the traditional fixed needle template. Automatic alignment of real-time intra-operative images aids visualization of the needle as it is manually inserted through the guide. Results from in-scanner phantom experiments are provided.