MRI 引导的聚焦超声机器人系统用于动物实验。
MRI guided focused ultrasound robotic system for animal experiments.
机构信息
Electrical Engineering Department, Cyprus University of Technology, Cyprus.
Department of Bioengineering, City University, London, UK.
出版信息
Int J Med Robot. 2017 Dec;13(4). doi: 10.1002/rcs.1804. Epub 2017 Feb 17.
BACKGROUND
In this paper an MRI-guided focused ultrasound (MRgFUS) robotic system was developed that can be used for conducting experiments in small animals.The target for this robotic system regarding motion was to move a therapeutic ultrasound transducer in two Cartesian axes.
METHODS
A single element spherically focused transducer of 3 cm diameter, focusing at 7 cm and operating at 0.4 MHz was used. The positioning device incorporates only MRI compatible materials. The propagation of ultrasound is a bottom to top approach. The 2-D positioning device is controlled by custom-made software and a custom-made electronic system which controls the two piezoelectric motors.
RESULTS
The system was tested successfully in agar/silica/evaporated milk phantom for various tasks (robot motion, MR compatibility, and MR thermometry). The robotic system is capable of moving the focused ultrasound transducer to perform MR-guided focused ultrasound experiments in small animals.
CONCLUSIONS
This system has the potential to be deployed as a cost effective solution for performing experiments in small animals.
背景
本文开发了一种基于 MRI 的聚焦超声（MRgFUS）机器人系统，可用于在小动物身上进行实验。该机器人系统的运动目标是在两个笛卡尔轴上移动治疗超声换能器。
方法
使用了一个直径为 3 厘米、聚焦在 7 厘米处、工作频率为 0.4MHz 的单元素球形聚焦换能器。定位装置仅包含 MRI 兼容材料。超声传播采用从下到上的方法。二维定位装置由定制软件和控制两个压电电机的定制电子系统控制。
结果
该系统在琼脂/二氧化硅/蒸发牛奶模型中成功地进行了各种任务（机器人运动、MR 兼容性和 MR 测温）的测试。该机器人系统能够移动聚焦超声换能器，在小动物身上进行磁共振引导的聚焦超声实验。
结论
该系统有可能成为在小动物身上进行实验的一种具有成本效益的解决方案。
Zotero 插件