MRI-guided robotics at the U of Houston: evolving methodologies for interventions and surgeries.
MRI-guided robotics at the U of Houston: evolving methodologies for interventions and surgeries.
复制标题
休斯顿大学的 MRI 引导机器人：不断发展的干预和手术方法。
DOI：
10.1109/iembs.2009.5333681
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Tsekos,NikolaosV
中科院分区：
文献类型：
--
作者：
Tsekos,NikolaosV
微创手术（MIS）和图像引导介入（IGI），以提供更好的患者管理和成本效益被证明是迅速发展。众所周知，维持和扩大这种范式转变需要新的计算方法，将传感与多模式成像、主动控制的机器人机械手、患者和操作员集成在一起。通过这种方法，可以实时评估继发于手术和生理运动的组织变形，并且可以收集关于目标组织的病理生理学的动态更新信息。本文探讨了利用实时磁共振成像（MRI）在指导程序。这项工作是基于当前国家的最先进的MR扫描仪，它提供了独特的能力，它与机器人控制计算核心接口。真实的时间评估的操作区域（AoO）与最小的在线处理，而不需要建模实现与这种方法。MRI的能力，有效地操纵对比度和选择性地可视化快速弯曲和移动的结构进行了讨论。
Minimally invasive surgeries (MIS) and image guided interventions (IGI) for offering improved patient management and cost effectiveness are witnessed to be rapidly evolving . It is well recognized that sustaining and expand this paradigm shift would require new computational methodology that integrates sensing with multimodal imaging, actively controlled robotic manipulators, the patient and the operator. With this approach, assessing in real-time tissue deformation secondary to the procedure and physiologic motion can be done and on-the-fly update information about the pathophysiology of the targeted tissue can be gathered. This paper investigates the utilization of real-time magnetic resonance imaging (MRI) in guiding a procedure. This work is based on current state-of-the-art MR scanners which offer the unique capability to interface it with the robot control computational core. Real time assessment of the area of operation (AoO) with minimal on-line processing and without the need of modeling is realised with this approach. The ability of MRI to effectively manipulate contrast and selectively visualize fast curved and moving structures is discussed.