用于神经介入机器人的压电致动器系统的磁共振成像兼容性评估
MRI compatibility evaluation of a piezoelectric actuator system for a neural interventional robot.
作者信息
Wang Yi, Cole Gregory A, Su Hao, Pilitsis Julie G, Fischer Gregory S
机构信息
Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA, USA.
出版信息
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:6072-5. doi: 10.1109/IEMBS.2009.5334206.
The work presented in this paper has been performed in furtherance of developing an MRI-compatible surgical robotic system, specifically targeting the neural intervention procedure for the treatment of Parkinson's Syndrome known as deep brain stimulation (DBS). In this paper we discuss the construction and testing of the MR-compatible controller, sensors and actuators, and the compatibility testing we have done to validate the success of our efforts in eliminating signal interference. Our robotic system was tested on a Phillips Achieva 3 Tesla MRI machine under diagnostic T1 and T2, high speed FGRE and functional EPI imaging protocols. It has been shown to operate without introducing any statistically significant degradation in image quality. We have shown that the creation of an MR-compatible electronically controlled closed-loop robotic actuation system and linkage mechanism can be created successfully within a standard high-field diagnostic magnet with insignificant levels of signal interference.
本文所展示的工作是为了进一步开发一种与磁共振成像（MRI）兼容的手术机器人系统，特别针对用于治疗帕金森综合征的神经干预手术——深部脑刺激（DBS）。在本文中，我们讨论了与MRI兼容的控制器、传感器和执行器的构建与测试，以及为验证我们在消除信号干扰方面的努力是否成功而进行的兼容性测试。我们的机器人系统在飞利浦Achieva 3特斯拉MRI机器上，按照诊断T1和T2、高速快速梯度回波（FGRE）和功能回波平面成像（EPI）协议进行了测试。结果表明，该系统运行时不会导致图像质量出现任何具有统计学意义的下降。我们已经证明，在标准的高场诊断磁体中，可以成功创建一个与MRI兼容的电控闭环机器人驱动系统和联动机构，且信号干扰水平微不足道。
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