A Direct Drive Parallel Plane Piezoelectric Needle Positioning Robot for MRI Guided Intraspinal Injection
A Direct Drive Parallel Plane Piezoelectric Needle Positioning Robot for MRI Guided Intraspinal Injection
复制标题
用于MRI引导椎管内注射的直驱平行平面压电针定位机器人
DOI：
10.1109/tbme.2020.3020926
复制
发表时间：
2021
影响因子：
4.6
通讯作者：
Ueda, Jun
中科院分区：
文献类型：
--
作者：
Meinhold, Waiman;Martinez, Daniel Enrique;Oshinski, John;Hu, Ai-Ping;Ueda, Jun
细胞治疗领域的最新发展表明了将干细胞直接注射到脊髓的潜力。注射需要开放手术或磁共振成像 (MRI) 引导注射。 MRI成像过程中的针头定位是直接脊柱注射的一个重要障碍，因为目标区域较小，层间空间要求较高的定位精度。目的为了提高手术时间和定位精度，开发一种MRI引导的机器人针头定位系统。方法该机器人采用线性压电电机直接驱动平行平面定位机构。在定向过程中通过 MRI 提供反馈。对机器人的精度和重复性进行了表征。结果发现该系统的重复性能够低于 51 μm。针端点误差受到成像方式的限制，但已验证为 156 μm。 结论 报道的机器人和 MRI 图像反馈系统能够重复且准确地进行针引导定位。 意义 这种高精度将显着改善脊柱注射程序的工作流程。
Recent developments in the field of cellular therapeutics have indicated the potential of stem cell injections directly to the spinal cord. Injections require either open surgery or a Magnetic Resonance Imaging (MRI) guided injection. Needle positioning during MRI imaging is a significant hurdle to direct spinal injection, as the small target region and interlaminar space require high positioning accuracy.ObjectiveTo improve both the procedure time and positioning accuracy, an MRI guided robotic needle positioning system is developed.MethodsThe robot uses linear piezoelectric motors to directly drive a parallel plane positioning mechanism. Feedback is provided through MRI during the orientation procedure. Both accuracy and repeatability of the robot are characterized.ResultsThis system is found to be capable of repeatability below 51 μm. Needle endpoint error is limited by imaging modality, but is validated to 156 μm.ConclusionThe reported robot and MRI image feedback system is capable of repeatable and accurate needle guide positioning.SignificanceThis high accuracy will result in a significant improvement to the workflow of spinal injection procedures.
影响因子：
5.7
作者：
De Leener, Benjamin;Kadoury, Samuel;Cohen-Adad, Julien
通讯作者：
Cohen-Adad, Julien
DOI：
10.3109/10929080309146052
发表时间：
2003-01-01
期刊：
Computer aided surgery : official journal of the International Society for Computer Aided Surgery
影响因子：
--
作者：
Hempel, Eckhard;Fischer, Harald;Melzer, Andreas
通讯作者：
Melzer, Andreas