A Prototype Body-Mounted MRI-Compatible Robot for Needle Guidance in Shoulder Arthrography.
A Prototype Body-Mounted MRI-Compatible Robot for Needle Guidance in Shoulder Arthrography.
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DOI：
10.1109/biorob.2014.6913749
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发表时间：
2014-08
期刊：
影响因子：
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通讯作者：
Cleary K
中科院分区：
文献类型：
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作者：
Monfaredi R;Seifabadi R;Iordachita I;Sze R;Safdar NM;Sharma K;Fricke S;Krieger A;Cleary K
一种新型的紧凑和轻便的患者安装MRI兼容机器人已被设计用于MRI图像引导的干预。该机器人旨在实现MRI引导下的针放置，如在肩关节造影中所做的那样。该机器人可以使针头放置更准确，并通过将传统的两阶段关节造影程序（透视引导针头插入，然后进行诊断性MRI扫描）转换为一阶段程序（简化的工作流程，全部在MRI套件中）来简化当前的工作流程。机器人有4个自由度（DOF），两个用于针的方向，两个用于针定位。机械设计基于几个标准，包括刚性、MRI兼容性、紧凑设计、可灭菌性和可调节性。建议的工作流程进行了讨论，并提出了初步的MRI兼容性实验。结果表明，感兴趣区域中的伪影最小，并且将机器人放置在人类志愿者身上不会对肩部的MRI图像产生不利影响。
A novel compact and lightweight patient-mounted MRI-compatible robot has been designed for MRI image-guided interventions. This robot is intended to enable MRI-guided needle placement as done in shoulder arthrography. The robot could make needle placement more accurate and simplify the current workflow by converting the traditional two-stage arthrography procedure (fluoroscopy-guided needle insertion followed by a diagnostic MRI scan) to a one-stage procedure (streamlined workflow all in MRI suite). The robot has 4 degrees of freedom (DOF), two for orientation of the needle and two for needle positioning. The mechanical design was based on several criteria including rigidity, MRI compatibility, compact design, sterilizability, and adjustability. The proposed workflow is discussed and initial MRI compatibility experiments are presented. The results show that artifacts in the region of interest are minimal and that MRI images of the shoulder were not adversely affected by placing the robot on a human volunteer.