Patel Niravkumar A, Yan Jiawen, Levi David, Monfaredi Reza, Cleary Kevin, Iordachita Iulian
N. Patel, J. Yan, D. Levi and I. Iordachita are with the Laboratory for Computational Sensing and Robotics, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218. J. Yan is also with Harbin Institute of Technology, Harbin, 150000 China. [
R. Monfaredi and K. Cleary are with Children/s National Health System, 111 Michigan Avenue, NW Washington, DC 20010 [
Rep U S. 2018 Oct;2018:1443-1448. doi: 10.1109/IROS.2018.8593807. Epub 2019 Jan 7.
This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the robot is optimized to be light weight and compact such that it could be mounted to the patient body. It has a modular design that can be adopted for assisting various image-guided, needle-based percutaneous interventions such as arthrography, biopsy and brachytherapy seed placement. The robot mechanism and the control system are designed and manufactured with components compatible with imaging modalities including Magnetic Resonance Imaging (MRI) and Computed Tomography (CT). The current version of the robot presented in this paper is optimized for shoulder arthrography under MRI guidance; a Z-shaped fiducial frame is attached to the robot, providing accurate and repeatable robot registration with the MR scanner coordinate system. Here we present the mechanical design of the manipulator, robot kinematics, robot calibration procedure, and preliminary bench-top accuracy assessment. The bench-top accuracy evaluation of the robotic manipulator shows average translational error of 1.01 mm and 0.96 mm in X and Z axes, respectively, and average rotational error of 3.06 degrees and 2.07 degrees about the X and Z axes, respectively.
本文介绍了一种用于图像引导经皮介入手术的可穿戴式四自由度（4-DOF）并联机构机器人。该机器人的设计经过优化，具有重量轻、结构紧凑的特点，可安装在患者身体上。它采用模块化设计，可用于辅助各种图像引导的基于针的经皮介入手术，如关节造影、活检和近距离放射治疗种子植入。机器人机构和控制系统的设计与制造所使用的部件与包括磁共振成像（MRI）和计算机断层扫描（CT）在内的成像模态兼容。本文介绍的当前版本的机器人针对MRI引导下的肩关节造影进行了优化；一个Z形基准框架连接到机器人上，可实现机器人与MR扫描仪坐标系的精确且可重复的配准。在此，我们介绍了机械手的机械设计、机器人运动学、机器人校准程序以及初步的台式精度评估。对机器人机械手的台式精度评估显示，在X轴和Z轴上的平均平移误差分别为1.01 mm和0.96 mm，绕X轴和Z轴的平均旋转误差分别为3.06度和2.07度。
