Design, Development, and Evaluation of a Master-Slave Surgical System for Breast Biopsy under Continuous MRI.
Design, Development, and Evaluation of a Master-Slave Surgical System for Breast Biopsy under Continuous MRI.
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DOI：
10.1177/0278364913500365
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发表时间：
2014-04
期刊：
影响因子：
--
通讯作者：
Desai JP
中科院分区：
文献类型：
--
作者：
Yang B;Roys S;Tan UX;Philip M;Richard H;Gullapalli R;Desai JP
与其他成像方式相比，磁共振成像（MRI）在癌症诊断中提供了上级软组织对比度。然而，MRI孔内的强磁场沿着有限的扫描器孔尺寸带来了重大挑战。由于目前使用MR图像进行乳腺活检的方法主要是一种盲靶方法，因此有必要开发一种MRI兼容的机器人，以避免多针插入乳腺组织。这种与MRI兼容的机器人系统可能会提高定位精度并减少采样误差。一个主从手术系统已被开发包括一个MRI兼容的从机器人，它由一个压电电机和五个气缸连接的长气动传输线。从机器人遵循主机器人的配置，主机器人为医生提供直观的操作界面，并在MRI孔内操作，以调整针的位置和方向，并执行针插入任务。基于使用从机器人的MRI实验，图像中没有明显的失真，因此从机器人可以在MRI内安全地操作，信噪比（SNR）损失最小。已经进行了离体和体内实验以评估主从手术系统的性能。
Magnetic Resonance Imaging (MRI) provides superior soft-tissue contrast in cancer diagnosis compared to other imaging modalities. However, the strong magnetic field inside the MRI bore along with limited scanner bore size poses significant challenges. Since current approaches in breast biopsy using MR images is primarily a blind targeting approach, it is necessary to develop a MRI-compatible robot that can avoid multiple needle insertions into the breast tissue. This MRI-compatible robotic system could potentially lead to improvement in the targeting accuracy and reduce sampling errors. A master-slave surgical system has been developed comprising of a MRI-compatible slave robot which consists of one piezo motor and five pneumatic cylinders connected by long pneumatic transmission lines. The slave robot follows the configuration of the master robot, which provides an intuitive manipulation interface for the physician and operates inside the MRI bore to adjust the needle position and orientation and perform needle insertion task. Based on the MRI experiments using the slave robot, there was no significant distortion in the images and hence the slave robot can be safely operated inside the MRI with minimal loss in signal-to-noise ratio (SNR). Ex vivo and in vivo experiments have been conducted to evaluate the performance of the master-slave surgical system.
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影响因子：
6.7
作者：
Kaiser, WA;Fischer, H;Selig, M
通讯作者：
Selig, M
DOI：
10.1002/rob.4620110204
发表时间：
1994-01-01
期刊：
JOURNAL OF ROBOTIC SYSTEMS
影响因子：
--
作者：
PFREUNDSCHUH, GH;SUGAR, TG;KUMAR, V
通讯作者：
KUMAR, V
DOI：
10.1080/13645700701520735
发表时间：
2007-01-01
影响因子：
1.7
作者：
Stoianovici, Dan;Song, Danny;Patriciu, Alexandru
通讯作者：
Patriciu, Alexandru
DOI：
10.1115/1.1785803
发表时间：
2004-08-01
影响因子：
1.7
作者：
Larson, BT;Erdman, AG;Koutlas, LG
通讯作者：
Koutlas, LG
影响因子：
6.4
作者：
Hokayem, Peter F.;Spong, Mark W.
通讯作者：
Spong, Mark W.