An Integrated Coil and Body-Mounted MR Robot for Pediatric Arthrography

 描述(由申请人提供)：本提案的目标是开发和评估一种患者安装的、与MRI兼容的肩关节成像机器人，该机器人集成了一个灵敏的MRI成像线圈。患者安装的机器人旨在为儿科关节造影术提供一种新的工作流程，消除对透视的需要，同时在MRI套件中提供准确的图像引导针头放置。这项提议是朝着实现我们的长期目标迈出的第一步，即为儿科患者提供MRI引导的无辐射手术。MRI扫描是肌肉骨骼成像的标准护理，因此肌肉骨骼损伤非常适合于MRI引导的介入治疗。虽然这项提议的重点是儿科，但这里开发的技术也将适用于成人手术。在这个项目中，我们将开发一种新颖的、定制设计的线圈阵列，该阵列将安装在我们的MRI兼容机器人的底座中，并在基于针头的介入过程中实现肩关节的高分辨率成像。对于关节造影程序，线圈阵列和机器人将使我们能够在一次设置中完成MRI套件中的程序，并消除对透视的需要。这在儿科环境中尤其重要，因为人们越来越关注儿童受到辐射照射的长期后果。我们的具体目标是：1.设计、建造和测试一个可以安装在国家儿童医学中心研发的磁共振兼容机器人底座中的磁共振线圈阵列。线圈阵列将使用一种新的集成巴伦方法构建，该方法具有低调，对附近导体结构(如电缆和电线)造成的射频场干扰不敏感。2.改装原型车载式机器人，以适应新的线圈阵列。这些修改将包括对机器人设计的改进，改变机器人底座以适应线圈，并包括用于注册的基准 目的。3.在模拟研究中，使用拟人模型和火腿模型测试MRI套件中集成系统的靶向准确性。进行所需的设计改进，并重复评估。

 DESCRIPTION (provided by applicant): The goal of this proposal is to develop and evaluate a patient-mounted MRI-compatible shoulder arthrography robot integrated with a sensitive MRI imaging coil. The patient-mounted robot is intended to enable a novel workflow for pediatric arthrography that eliminates the need for fluoroscopy while providing accurate image-guided needle placement in the MRI suite. This proposal is a first step toward achieving our long-term goal of offering MRI-guided, radiation-free procedures to pediatric patients. MRI scanning is the standard of care for musculoskeletal imaging and therefore musculoskeletal injuries are well suited to MRI-guided interventions. While this proposal is focused on pediatrics, the techniques developed here will be applicable to adult procedures as well. In this project, we will develop a novel, custom-designed coil array that will fit inside the base of our MRI- compatible robot and enable high-resolution imaging of the shoulder joint during needle-based interventions. For the arthrography procedure, the coil array and robot will enable us to complete the procedure in the MRI suite in one setting and eliminate the need for fluoroscopy. This is particularly significant i the pediatric setting since there are increasing concerns about the long-term consequences of radiation exposure in children. Our specific aims are to: 1. Design, construct, and test an MRI coil array that can fit inside the base of the MRI compatible robot developed at Children's National Medical Center. The coil array will be constructed using a novel integrated balun approach that has a low-profile and is insensitive to radiofrequency field disturbances caused by nearby conducting structures such as cables and wires. 2. Modify the prototype body-mounted robot to accommodate the new coil array. These modifications will include improvements to the robot design, changing the robot base for the coil to fit, and including fiducials for registration purposes. 3. Test the targeting accuracy of the integrated system in the MRI suite in a mock-up study and with anthropomorphic and ham phantoms. Make design improvements required and repeat the evaluations.