"MRI Stealth'' robot for prostate interventions
"MRI Stealth'' robot for prostate interventions
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DOI：
10.1080/13645700701520735
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发表时间：
2007-01-01
影响因子：
1.7
通讯作者：
Patriciu, Alexandru
中科院分区：
文献类型：
--
作者：
Stoianovici, Dan;Song, Danny;Patriciu, Alexandru
本文报道了磁共振成像仪器的一项重要成果，即在扫描仪内放置一个完全驱动的气动机器人，在患者旁边，并根据图像进行远程操作。以前的核磁共振机器人通常使用压电驱动，限制了它们的兼容性。气动是MRI兼容性的理想选择，因为它与电磁分离，但气动执行器几乎无法控制。这一成就是可能的，这要归功于最近的一项技术突破，发明了一种新型气动马达PneuStep(1)，该马达是为本文报道的机器人而设计的，具有不打折扣的MRI兼容性、高精度和医疗安全性。Bot先生是今天的“核磁共振隐形”机器人之一(Zangos等人在本期中描述了第二个机器人)。这两个系统也都兼容多个成像器，能够与所选的成像器或交叉成像模式一起操作。为了与核磁共振兼容，该机器人完全由塑料、陶瓷、水晶、橡胶等非磁性和介电材料构成，而且不带电。基于光的编码用于反馈，因此所有的电子部件都位于成像器房间外的远处。磁共振成像机器人是一种现代化、数字化的医疗仪器，符合先进的成像设备和方法。这使得可以在闭孔扫描仪中访问患者，并在直接(在扫描仪中)成像反馈下进行干预。例如，核磁共振机器人可以对用尖端癌症成像方法成像的小病变进行活组织检查，或者精确地在癌症病灶进行局部治疗。我们的机器人是第一个展示全自动扫描仪内干预的可行性的机器人。它是为前列腺量身定做的，并通过会操作进行针头干预。它可以适应不同的经皮穿刺针驱动器，如活组织检查、热消融或近距离放射治疗。第一个针头驱动器是为全自动低剂量放射种子近距离放射治疗而定制的。本文介绍了磁共振机器人在兼容性方面的挑战，并提出了在制造MR机器人时所采取的解决方案。它的多成像仪兼容性和其他临床前测试也包括在内。该机器人显示了核磁共振引导的前列腺介入治疗的技术可行性，但其临床应用仍有待确定。
The paper reports an important achievement in MRI instrumentation, a pneumatic, fully actuated robot located within the scanner alongside the patient and operating under remote control based on the images. Previous MRI robots commonly used piezoelectric actuation limiting their compatibility. Pneumatics is an ideal choice for MRI compatibility because it is decoupled from electromagnetism, but pneumatic actuators were hardly controllable. This achievement was possible due to a recent technology breakthrough, the invention of a new type of pneumatic motor, PneuStep ( 1), designed for the robot reported here with uncompromised MRI compatibility, high- precision, and medical safety. MrBot is one of the `` MRI stealth'' robots today ( the second is described in this issue by Zangos et al.). Both of these systems are also multi- imager compatible, being able to operate with the imager of choice or cross- imaging modalities. For MRI compatibility the robot is exclusively constructed of nonmagnetic and dielectric materials such as plastics, ceramics, crystals, rubbers and is electricity free. Light- based encoding is used for feedback, so that all electric components are distally located outside the imager's room. MRI robots are modern, digital medical instruments in line with advanced imaging equipment and methods. These allow for accessing patients within closed bore scanners and performing interventions under direct ( in scanner) imaging feedback. MRI robots could allow e. g. to biopsy small lesions imaged with cutting edge cancer imaging methods, or precisely deploy localized therapy at cancer foci. Our robot is the first to show the feasibility of fully automated in- scanner interventions. It is customized for the prostate and operates transperineally for needle interventions. It can accommodate various needle drivers for different percutaneous procedures such as biopsy, thermal ablations, or brachytherapy. The first needle driver is customized for fully automated low- dose radiation seed brachytherapy. This paper gives an introduction to the challenges of MRI robot compatibility and presents the solutions adopted in making the MrBot. Its multi- imager compatibility and other preclinical tests are included. The robot shows the technical feasibility of MRI- guided prostate interventions, yet its clinical utility is still to be determined.