An MRI-compatible surgical robot for precise radiological interventions.
An MRI-compatible surgical robot for precise radiological interventions.
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DOI：
10.3109/10929080309146052
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发表时间：
2003-01-01
期刊：
影响因子：
--
通讯作者：
Melzer, Andreas
中科院分区：
文献类型：
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作者：
Hempel, Eckhard;Fischer, Harald;Melzer, Andreas
目的：近年来开发了多种医疗机器人。 MRI，包括MR血管造影和形态学成像，以其优异的软组织对比度对MRI引导的介入治疗和手术的发展具有吸引力。本文提出了一种用于 CT 和/或 MR 引导放射干预的远程机器人设备。将简要描述在 MR 引导的脊柱疾病治疗过程中用于精确针插入的机器人装置。 材料和方法：由于存在强磁场，在 MRI 环境中驱动机器人很困难。因此，机器人是由非磁性材料制成的。该系统框架由聚醚醚酮 (PEEK) 和纤维增强环氧树脂制成，并使用超声波和气动电机驱动。开发了完全 MR 兼容的传感器用于定位控制。结果：进行了精度评估程序和模型测试，达到了大约 1 毫米的所需精度，并且机器人设备在 MR 图像采集过程中没有造成明显的伪影。
OBJECTIVE: A variety of medical robots have been developed in recent years. MRI, including MR angiography and morphological imaging, with its excellent soft-tissue contrast is attractive for the development of interventional MRI-guided therapies and operations. This paper presents a telerobotic device for use in CT- and/or MR-guided radiological interventions. A robotic device for precise needle insertion during MR-guided therapy of spinal diseases will be briefly described.MATERIALS AND METHODS: Actuation of robots in an MRI environment is difficult due to the presence of strong magnetic fields. Therefore, the robot was constructed of nonmagnetic materials. The system frame was built from polyether ether ketone (PEEK) and fiber-reinforced epoxy, and actuated using ultrasonic and pneumatic motors. Completely MR-compatible sensors were developed for positioning control.RESULTS: Accuracy evaluation procedures and phantom tests were performed, with the required accuracy of approximately 1 mm being achieved and no significant artifacts being caused by the robotic device during MR image acquisition.