Development of an image-guided robot for small animal research
Development of an image-guided robot for small animal research
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DOI：
10.1080/10929080701732538
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发表时间：
2007-11-01
影响因子：
--
通讯作者：
Fichtinger, Gabor
中科院分区：
文献类型：
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作者：
Kazanzides, Peter;Chang, Jenghwa;Fichtinger, Gabor
我们开发了一种机器人系统，可用于小动物的图像引导实验程序，其目标是在术前图像上识别的特定位置执行物理动作。首先将动物放置在与所有感兴趣的成像系统（包括PET、SPECT、CT和MRI）兼容的夹具中。在成像之后，固定装置被附接并配准到机器人系统，在机器人系统中执行图像引导的干预。该系统已被应用于基于在动物PET扫描仪中获得的肿瘤缺氧图像的物理探针执行pO（2）测量。本文重点介绍了机器人系统的设计和验证。使用体模进行确认，并包括一种基于实测基准距离误差（FDE）估计基准定位误差（FLE）的新方法。实验结果表明，该机器人系统能够将测量探头定位在预定目标上，平均误差小于0.4mm。
We developed a robot system that can be used for image-guided experimental procedures on small animals, where the goal is to perform physical actions at specific positions identified on a preoperative image. The animal is first placed in a fixture that is compatible with all imaging systems of interest, including PET, SPECT, CT and MRI. After imaging, the fixture is attached and registered to the robot system, where the image-guided intervention is performed. This system has been applied to perform pO(2) measurements with physical probes based on tumor hypoxia images obtained in an animal PET scanner. This paper focuses on the design and validation of the robot system. The validation is performed using a phantom and includes a new method for estimating the Fiducial Localization Error (FLE) that is based on the measured Fiducial Distance Error (FDE). The results indicate that the robot system can position the measurement probe at a defined target with a mean error that is less than 0.4mm.