Development of a shoulder-mounted robot for MRI-guided needle placement: phantom study.
Development of a shoulder-mounted robot for MRI-guided needle placement: phantom study.
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DOI：
10.1007/s11548-018-1839-y
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发表时间：
2018-11
影响因子：
3
通讯作者：
Cleary K
中科院分区：
文献类型：
--
作者：
Monfaredi R;Iordachita I;Wilson E;Sze R;Sharma K;Krieger A;Fricke S;Cleary K
本文介绍了我们的患者安装机器人（称为 Arthrobot）的信噪比 (SNR) 研究、失真研究和瞄准精度模型研究的新定量数据。 Arthrobot 被开发为 MRI 引导的置针装置，用于关节造影等诊断和介入手术。我们介绍了机器人设计和逆运动学。还报告了信噪比和失真研究的定量评估结果。进行呼吸运动研究来评估肩部安装方法。进行了一项模型研究来调查端到端的定位准确性。还报告了考虑目标精度、呼吸运动和结构变形的综合误差。 SNR 研究表明，当无动力机器人放置在标准水模型顶部时，SNR 仅变化 2%。失真研究表明，与真实情况的最大失真为 2.57%。与呼吸运动相关的平均误差为 1.32 毫米，标准偏差为 1.38 毫米。凝胶体模靶向研究的结果表明平均针放置误差为 1.64 毫米，标准偏差为 0.90 毫米。 MR 图像的噪声和失真并不显着，并且机器人存在时的图像质量对于 MRI 引导的瞄准来说是令人满意的。综合平均总误差（将安装稳定性误差和结构变形误差与瞄准误差相加）估计为 3.4 毫米，标准偏差为 1.65 毫米。在临床实践中，5毫米以下的进针精度被认为足以在肩关节造影术中成功进行关节注射。因此，对于预期的临床程序，这些结果表明Arthrobot具有足够的定位精度。
This paper presents new quantitative data on a signal-to-noise ratio (SNR) study, distortion study, and targeting accuracy phantom study for our patient-mounted robot (called Arthrobot). Arthrobot was developed as an MRI-guided needle placement device for diagnostic and interventional procedures such as arthrography. We present the robot design and inverse kinematics. Quantitative assessment results for SNR and distortion study are also reported. A respiratory motion study was conducted to evaluate the shoulder mounting method. A phantom study was conducted to investigate end-to-end targeting accuracy. Combined error considering targeting accuracy, respiratory motion, and structure deformation is also reported. The SNR study showed that the SNR changes only 2% when the unpowered robot was placed on top of a standard water phantom. The distortion study showed that the maximum distortion from the ground truth was 2.57%. The average error associated with respiratory motion was 1.32 mm with standard deviation of 1.38 mm. Results of gel phantom targeting studies indicate average needle placement error of 1.64 mm, with a standard deviation of 0.90 mm. Noise and distortion of the MR images were not significant, and image quality in the presence of the robot was satisfactory for MRI-guided targeting. Combined average total error, adding mounting stability errors and structure deformation errors to targeting error, is estimated to be 3.4 mm with a standard deviation of 1.65 mm. In clinical practice, needle placement accuracy under 5 mm is considered sufficient for successful joint injection during shoulder arthrography. Therefore, for the intended clinical procedure, these results indicate that Arthrobot has sufficient positioning accuracy.
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影响因子：
2.2
作者：
Jussila, J;Leppäniemi, A;Kulomäki, E
通讯作者：
Kulomäki, E
MRI引导的立体定向神经外科手术系统。
DOI：
10.1109/tbme.2014.2367233
发表时间：
2015-04
期刊：
IEEE transactions on bio-medical engineering
影响因子：
--
作者：
Li G;Su H;Cole GA;Shang W;Harrington K;Camilo A;Pilitsis JG;Fischer GS
通讯作者：
Fischer GS
影响因子：
--
作者：
Bricault, Ivan;Zemiti, Nabil;Cinquin, Philippe
通讯作者：
Cinquin, Philippe
影响因子：
1.4
作者：
Srinivasan, Sivasubramanian;Peh, Wilfred C. G.
通讯作者：
Peh, Wilfred C. G.
影响因子：
3
作者：
Wu, Hung-Ta H.;Chang, Cheng-Yen;Chiou, Hong-Jen
通讯作者：
Chiou, Hong-Jen