Multi-Imager Compatible, MR Safe, Remote Center of Motion Needle-Guide Robot.
Multi-Imager Compatible, MR Safe, Remote Center of Motion Needle-Guide Robot.
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DOI：
10.1109/tbme.2017.2697766
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发表时间：
2018-01
期刊：
影响因子：
--
通讯作者：
Cleary K
中科院分区：
文献类型：
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作者：
Stoianovici D;Jun C;Lim S;Li P;Petrisor D;Fricke S;Sharma K;Cleary K
我们报告了一种新的机器人系统的发展，直接图像引导的干预，DIGI（在干预时获得的图像）。机械手使用我们以前报道的气动步进电机，是完全由不导电，非金属，和可再生材料。它使用创新的远程运动中心（RCM）平行四边形机构，以2个自由度（DoF）围绕位于导向器下方的支点定位针导向器。手动针插入的深度通过位于操纵器远程的第三自由度预设。特别考虑了运动精度和结构刚度。操纵器包括用于图像到机器人配准的配准标记。基于图像，它可以将针、钻或其他细长器械引导到目标（OD<10 mm）。进行了全面的临床前试验。操纵器是MR安全的（ASTM F2503-13）。系统的电磁兼容性（EMC）测试（IEC 60601-1-2）表明其不会传导或辐射EM辐射。由于机器人在扫描仪中的存在和运动而导致的MRI的信噪比（SNR）的变化低于1%。导针器处的结构刚度为33 N/mm，机械手本身的角度精度和精度分别为0.177°和0.077°。MRI引导的体外靶向准确度和精密度分别为1.71 mm和0.51 mm，平均靶深度约为38 mm，无需调整。该系统可能适用于DIGI，其中针侧（2D）的1.07 + 0.0031 · d [mm]精度或3D中的1.59 + 0.0031 · d [mm]精度是可接受的。该系统还兼容多成像仪，并可与其他成像模式一起使用。
We report the development of a new robotic system for direct image-guided interventions, DIGI (images acquired at the time of the intervention). The manipulator uses our previously reported Pneumatic Step Motors and is entirely made of electrically nonconductive, nonmetallic, and nonmagnetic materials. It orients a needle-guide with 2 degrees of freedom (DoF) about a fulcrum point located below the guide using an innovative Remote Center of Motion (RCM) parallelogram type mechanism. The depth of manual needle insertion is preset with a 3rd DoF, located remotely of the manipulator. Special consideration was given to the kinematic accuracy and the structural stiffness. The manipulator includes registration markers for image-to-robot registration. Based on the images, it may guide needles, drills, or other slender instruments to a target (OD<10mm). Comprehensive preclinical tests were performed. The manipulator is MR Safe (ASTM F2503-13). Electromagnetic compatibility (EMC) testing (IEC 60601-1-2) of the system shows that it does not conduct or radiate EM emissions. The change in the signal to noise ratio (SNR) of the MRI due to the presence and motion of the robot in the scanner is below 1%. The structural stiffness at the needle-guide is 33N/mm. The angular accuracy and precision of the manipulator itself are 0.177° and 0.077°. MRI-guided targeting accuracy and precision in-vitro were 1.71mm and 0.51mm, at an average target depth of ~38mm, with no adjustments. The system may be suitable for DIGI where 1.07 + 0.0031 · d [mm] accuracy lateral to the needle (2D) or 1.59 + 0.0031 · d [mm] in 3D is acceptable. The system is also multi-imager compatible and could be used with other imaging modalities.