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价与灵敏MRI成像线圈集成的患者安装MRI兼容肩关节造影机器人。患者安装式机器人旨在为儿科关节造影提供一种新的工作流程，消除了对荧光透视的需求，同时在MRI套件中提供准确的图像引导针放置。 该提案是实现我们长期目标的第一步，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MRI引导的干预。虽然这项建议的重点是儿科，这里开发的技术将适用于成人程序以及。 在本项目中，我们将开发一种新型的定制设计的线圈阵列，该线圈阵列将安装在我们的MRI兼容机器人的底座内，并在基于针的干预期间实现肩关节的高分辨率成像。对于关节造影术，线圈阵列和机器人将使我们能够在一个设置中在MRI套件中完成手术，并消除对荧光透视的需要。这在儿科环境中尤其重要，因为人们越来越关注儿童辐射暴露的长期后果。 我们的具体目标是：1.设计、构建和测试一个MRI线圈阵列，该线圈阵列可以安装在儿童国家医疗中心开发的MRI兼容机器人的底座内。线圈阵列将使用一种新型的集成巴伦方法构建，该方法具有低轮廓，对附近导电结构（如电缆和电线）引起的射频场干扰不敏感。 2.修改原型身体安装机器人，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，改变线圈的机器人底座，并包括注册基准 目的 3.在模拟研究中并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。进行必要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.