Design of an MRI-compatible robotic stereotactic device for minimally invasive interventions in the breast
Design of an MRI-compatible robotic stereotactic device for minimally invasive interventions in the breast
复制标题
DOI：
10.1115/1.1785803
复制
发表时间：
2004-08-01
影响因子：
1.7
通讯作者：
Koutlas, LG
中科院分区：
文献类型：
--
作者：
Larson, BT;Erdman, AG;Koutlas, LG
这项工作的目标是开发一种机器人设备，在实时磁共振成像(MRI)指导下对乳房进行活检和治疗干预。该装置被设计成允许(I)通过压缩来稳定乳房，(Ii)通过设置探头插入装置的高度和节距来限定介入探头的轨迹，以及(Iii)通过设置插入深度来定位介入探头。该设备配备了五个由计算机控制的自由度，用于进行介入手术。整个装置由MR兼容材料构成，即非磁性和非导电性，以消除MR图像的伪影和失真。该设备通过超声波马达和图形用户界面进行远程控制，提供实时MR引导的操作计划和监控。关节运动测量发现，探头放置在S的位置不到50个，探头尖端同方向点对点运动的重复性为亚毫米。然而，旋转关节中的间隙可能会在距旋转轴40 mm的距离处导致探头尖端位置误差高达5 mm，这可能发生在乳房较大的女性身上。当探头尖端接近旋转轴时，这种间隙引起的不精度变得可以忽略不计。实时MR引导将允许医生纠正这一错误。在4特斯拉MR人体扫描仪上成功地测试了该设备在MR环境中的兼容性。
The objective of this work was to develop a robotic device to perform biopsy and therapeutic interventions in the breast with real-time magnetic resonance imaging (MRI) guidance. The device was designed to allow for (i) stabilization of the breast by compression, (ii) definition of the interventional probe trajectory by setting the height and pitch of a probe insertion apparatus, and (iii) positioning of an interventional probe by setting the depth of insertion. The apparatus is fitted with five computer-controlled degrees of freedom for delivering an interventional procedure. The entire device is constructed of MR compatible materials, i.e. nonmagnetic and non-conductive, to eliminate artifacts and distortion of the MR images. The apparatus is remotely controlled by means of ultrasonic motors and a graphical user interface, providing real-time MR-guided planning and monitoring of the operation. Joint motion measurements found probe placement in less than 50 s and sub-millimeter repeatability of the probe tip for same-direction point-to-point movements. However, backlash in the rotation joint may incur probe tip positional errors of up to 5 mm at a distance of 40 mm from the rotation axis, which may occur for women with large breasts. The imprecision caused by this backlash becomes negligible as the probe tip nears the rotation axis. Real-time MR-guidance will allow the physician to correct this error. Compatibility of the device within the MR environment was successfully tested on a 4 Tesla MR human scanner.