一种面向工作空间的针引导机器人，用于 3T MRI 引导经会阴前列腺介入：腔内工作空间和 MRI 兼容性评估。
A workspace-orientated needle-guiding robot for 3T MRI-guided transperineal prostate intervention: evaluation of in-bore workspace and MRI compatibility.
机构信息
National Center for Image-Guided Therapy, Brigham and Women's Hospital and Harvard Medical School, Boston, MA, USA.
出版信息
Int J Med Robot. 2013 Mar;9(1):67-74. doi: 10.1002/rcs.1430. Epub 2012 Apr 10.
BACKGROUND
Magnetic resonance imaging (MRI)-guided prostate interventions have been introduced to enhance the cancer detection. For accurate needle positioning, in-bore-operated robotic systems have been developed and optimal use of the confined in-bore space become a critical engineering challenge.
METHODS
As preliminary evaluation of our prostate intervention robot, we conducted a workspace design analysis, using a new evaluation method that we developed for in-bore-operated robots for transperineal prostate interventions, and an MRI compatibility study.
RESULTS
The workspace analysis resulted in the effective workspace (VW ) of 0.32, which is greater than that of our early prototype, despite the current robot being ca. 50% larger than the early prototype in sectional space. The MRI compatibility study resulted in < 15% signal:noise ratio (SNR) reduction.
CONCLUSIONS
The new workspace evaluation method quantifies the workspace utilization of the in-bore-operated robots for MRI-guided transperineal prostate interventions, providing a useful tool for evaluation and new robot design. The robot creates insignificant electromagnetic noise during typical prostate imaging sequences.
背景
磁共振成像（MRI）引导的前列腺介入技术已经被引入，以提高癌症检测的准确性。为了实现精确的针定位，已经开发出了在腔室内操作的机器人系统，而如何最佳地利用有限的腔室内空间成为了一个关键的工程挑战。
方法
作为我们前列腺介入机器人的初步评估，我们进行了工作空间设计分析，使用了我们为经会阴前列腺介入而开发的新的腔内操作机器人评估方法，并进行了 MRI 兼容性研究。
结果
工作空间分析得到了有效工作空间（VW）为 0.32，尽管当前机器人的截面空间比早期原型大约 50%，但仍大于我们早期原型的有效工作空间。MRI 兼容性研究结果表明信号噪声比（SNR）降低小于 15%。
结论
新的工作空间评估方法定量评估了 MRI 引导经会阴前列腺介入的腔内操作机器人的工作空间利用情况，为评估和新机器人设计提供了有用的工具。机器人在典型的前列腺成像序列中产生的电磁噪声可以忽略不计。
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