Design and validation of an image-guided robot for small animal research.
Design and validation of an image-guided robot for small animal research.
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用于小动物研究的图像引导机器人的设计和验证。
DOI：
10.1007/11866565_7
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Fichtinger,Gabor
中科院分区：
文献类型：
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作者：
Kazanzides,Peter;Chang,Jenghwa;Iordachita,Iulian;Li,Jack;Ling,CClifton;Fichtinger,Gabor
我们开发了一种图像引导的机器人系统，以术前图像上指定的预定义模式将细针和探针高度准确地放置到体内啮齿动物肿瘤组织中。该系统可用于许多实验过程，其中目标是将一组物理测量与对应的一组图像强度相关联，或者更一般地，在术前图像上识别的一组解剖点处执行物理动作。本文重点介绍的机器人系统的设计和验证，其中的第一个应用程序是插入氧气测量探头在三维（3D）的网格图案定义相对于PET扫描的肿瘤。该设计与CT和MRI兼容，我们计划使用它们来确定活检和注射腺病毒序列进行基因治疗的靶点。使用体模进行确认，并包括基于测量的基准距离误差（FDE）估计基准定位误差（FLE）的新方法。
We developed an image-guided robot system to achieve highly accurate placement of thin needles and probes into in-vivo rodent tumor tissue in a predefined pattern that is specified on a preoperative image. This system can be used for many experimental procedures where the goal is to correlate a set of physical measurements with a corresponding set of image intensities or, more generally, to perform a physical action at a set of anatomic points identified on a preoperative image. This paper focuses on the design and validation of the robot system, where the first application is to insert oxygen measurement probes in a three-dimensional (3D) grid pattern defined with respect to a PET scan of a tumor. The design is compatible with CT and MRI, which we plan to use to identify targets for biopsy and for the injection of adenoviral sequences for gene therapy. The validation is performed using a phantom and includes a new method for estimating the Fiducial Localization Error (FLE) based on the measured Fiducial Distance Error (FDE).