Robotically Assisted Long Bone Biopsy Under MRI Imaging: Workflow and Preclinical Study.
Robotically Assisted Long Bone Biopsy Under MRI Imaging: Workflow and Preclinical Study.
复制标题
DOI：
10.1016/j.acra.2017.08.008
复制
发表时间：
2018-01
影响因子：
4.8
通讯作者：
Stoianovici D
中科院分区：
文献类型：
--
作者：
Cleary K;Lim S;Jun C;Monfaredi R;Sharma K;Fricke ST;Vargas L;Petrisor D;Stoianovici D
我们的研究团队开发了一种MRI兼容机器人，用于长骨活检。该机器人旨在为MRI成像下的儿科骨活检提供新的工作流程。我们的长期目标是在诊断患有骨癌和骨感染的儿童时尽量减少创伤和消除辐射暴露。本文介绍了我们的机器人系统，幻影精度研究，和工作流程分析。本节描述了我们工作的几个方面，包括设想的临床工作流程，MRI兼容机器人和实验装置。该工作流程由五个步骤组成，旨在使整个程序能够在MRI套件中完成。MRI兼容机器人是MR安全的，具有3个自由度，以及用于定向针导的远程运动中心机制。准确性研究是在Siemens Aera 1.5T扫描仪中使用长骨体模进行的。在体模上钻了4个定位孔。使用机器人针引导器以略微倾斜的角度接近每个目标两次，总共尝试八次。工作流程分析显示，每次定位尝试的平均时间为32分钟，包括机器人设置时间。平均3D定位误差为1.39 mm，标准差为0.40 mm。所有目标均成功达到。结果表明，机器人系统能够协助放射科医生在MRI环境中精确定位骨体模。该机器人系统具有临床应用的几个潜在优势，包括在MRI等中心工作的能力，并作为一个稳定和精确的指导。
Our research team has developed an MRI compatible robot for long bone biopsy. The robot is intended to enable a new workflow for bone biopsy in pediatrics under MRI imaging. Our long-term objectives are to minimize trauma and eliminate radiation exposure when diagnosing children with bone cancers and bone infections. This article presents our robotic systems, phantom accuracy studies, and workflow analysis. This section describes several aspects of our work including the envisioned clinical workflow, the MRI compatible robot, and the experimental setup. The workflow consists of five steps and is intended to enable the entire procedure to be completed in the MRI suite. The MRI compatible robot is MR Safe, has 3 degrees of freedom, and a remote center of motion mechanism for orienting a needle guide. The accuracy study was done in a Siemens Aera 1.5T scanner with a long bone phantom. Four targeting holes were drilled in the phantom. Each target was approached twice at slightly oblique angles using the robot needle guide for a total of eight attempts. A workflow analysis showed the average time for each targeting attempt was 32 minutes, including robot setup time. The average 3D targeting error was 1.39 mm with a standard deviation of 0.40 mm. All of the targets were successfully reached. The results showed the ability of the robotic system in assisting the Radiologist to precisely target a bone phantom in the MRI environment. The robot system has several potential advantages for clinical application, including the ability to work at the MRI isocenter and serve as a steady and precise guide.
登录
查看更多内容
影响因子：
3.8
作者：
Hata, Nobuhiko;Song, Sang-Eun;Tokuda, Junichi
通讯作者：
Tokuda, Junichi
MR/超声融合引导的活检与超声引导活检的比较，以诊断前列腺癌。
DOI：
10.1001/jama.2014.17942
发表时间：
2015-01-27
期刊：
JAMA
影响因子：
--
作者：
Siddiqui MM;Rais-Bahrami S;Turkbey B;George AK;Rothwax J;Shakir N;Okoro C;Raskolnikov D;Parnes HL;Linehan WM;Merino MJ;Simon RM;Choyke PL;Wood BJ;Pinto PA
通讯作者：
Pinto PA
影响因子：
2.6
作者：
Gutierrez, K
通讯作者：
Gutierrez, K
DOI：
10.1097/00005373-200112000-00017
发表时间：
2001-12-01
影响因子：
--
作者：
Blake-Toker, AM;Hawkins, L;Dunn, E
通讯作者：
Dunn, E
影响因子：
--
作者：
Gassert, Roger;Burdet, Etienne;Chinzei, Kiyoyuki
通讯作者：
Chinzei, Kiyoyuki