用于前列腺介入的气动磁共振成像兼容针放置机器人
Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions.
作者信息
Fischer Gregory S, Iordachita Iulian, Csoma Csaba, Tokuda Junichi, Mewes Philip W, Tempany Clare M, Hata Nobuhiko, Fichtinger Gabor
机构信息
Johns Hopkins University, Baltimore, MD, USA.
出版信息
IEEE Int Conf Robot Autom. 2008 Jun 13;2008:2489-2495. doi: 10.1109/ROBOT.2008.4543587.
Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system.
磁共振成像（MRI）有潜力成为用于引导和监测前列腺介入治疗的一种卓越的医学成像方式。强磁场阻碍了传统机电一体化设备的使用，并且有限的物理空间使得接近患者极具挑战性。我们设计了一种机器人辅助系统，该系统克服了这些困难，并有望在封闭的高场MRI扫描仪内安全可靠地进行前列腺内针穿刺。该机器人在实时3T MR图像引导下进行针插入操作；已在体模上评估了工作空间要求、MR兼容性和工作流程。本文阐述了机器人机构和控制器设计，并展示了该系统的初步评估结果。
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