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Robotic System for MRI-Guided Focal Laser Ablation in the Prostate

机译:前列腺核磁共振引导激光烧蚀机器人系统

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摘要

MRI-conditional robotic platforms have proved to be an effective approach for image-guided interventions. In this study, a computer-assisted, pneumatically actuated robot is designed, built, and tested for MRI-guided prostate cancer focal laser ablation (FLA). The robotic manipulator provides two active planar degrees of freedom (DoFs) by using a customized CoreXY frame and one passive rotational DoF. A remote insertion mechanism improves the surgical workflow by keeping the patients inside the scanner during needle insertion. The robotic manipulator is tested in a 3T MR scanner to evaluate its MR compliance, and the results demonstrated that the signal-to-noise ratio (SNR) variation is less than 8%. The in-scanner template positioning accuracy test demonstrates that the manipulator achieves high targeting accuracy with a mean error of 0.46 mm and a standard deviation of 0.25 mm. Phantom studies have shown that the needle insertion accuracy of the manipulator is within 2 mm (mean = 1.7 mm, standard deviation = 0.2 mm).
机译:MRI条件机器人平台已被证明是用于图像引导干预的有效方法。在这项研究中,设计,建造并测试了计算机辅助气动机器人,以进行MRI引导的前列腺癌局灶性激光消融(FLA)。机器人操纵器通过使用定制的CoreXY框架和一个被动旋转DoF提供了两个主动平面自由度(DoF)。远程插入机制通过在针插入过程中将患者保持在扫描仪内部来改善手术流程。该机器人操纵器在3T MR扫描仪中进行了测试,以评估其MR顺应性,结果表明信噪比(SNR)的变化小于8%。扫描仪内模板定位精度测试表明,该机械手具有0.46 mm的平均误差和0.25 mm的标准偏差,可实现较高的瞄准精度。幻影研究表明,机械手的针头插入精度在2毫米以内(平均值= 1.7毫米,标准偏差= 0.2毫米)。

著录项

  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2017年第1期|107-114|共8页
  • 作者单位

    College of Engineering, The University of Georgia, Athens, GA, USA;

    College of Engineering, The University of Georgia, Athens, GA, USA;

    Department of Radiology and Imaging Sciences, Center for Interventional Oncology, National Institutes of Health, Bethesda, MD, USA;

    Department of Radiology and Imaging Sciences, Center for Interventional Oncology, National Institutes of Health, Bethesda, MD, USA;

    Philips Research North America, Briarcliff, NY, USA;

    Department of Radiology and Imaging Sciences, Center for Interventional Oncology, National Institutes of Health, Bethesda, MD, USA;

    Department of Radiology and Imaging Sciences, Center for Interventional Oncology, National Institutes of Health, Bethesda, MD, USA;

    Department of Radiology and Imaging Sciences, Center for Interventional Oncology, National Institutes of Health, Bethesda, MD, USA;

    Department of Radiology and Imaging Sciences, Center for Interventional Oncology, National Institutes of Health, Bethesda, MD, USA;

    College of Engineering, The University of Georgia, Athens, GA, USA;

  • 收录信息
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Needles; Pneumatic systems; Laser ablation; End effectors; Prostate cancer;

    机译:针;气动系统;激光消融;末端效应器;前列腺癌;
  • 入库时间 2022-08-17 13:03:34

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