一种用于 MRI 引导下脊柱治疗的体部佩戴式装置。
A body-mounted device for MRI-guided spinal therapy.
机构信息
School of Electrical and Computer Engineering, University of Georgia, Athens, Georgia, USA.
Tandon School of Engineering, New York University, Brooklyn, New York, USA.
出版信息
Int J Med Robot. 2021 Apr;17(2):e2235. doi: 10.1002/rcs.2235. Epub 2021 Feb 20.
BACKGROUND
Amyotrophic lateral sclerosis (ALS) is a neurodegenerative disease with no cure and limited treatment options. Recent studies have shown that delivering cellular therapeutics to the ventral horn of the spinal cord can effectively halt neurodegeneration associated with ALS in small animal models.
METHODS
We developed a robotic system that assists with MRI-guided percutaneous injections to the spinal cord. The needle positioning robot consists of two linear axes with motorised translational sleds for two-degree-of-freedom (2-DOF) needle translation and a radial template for 2-DOF discrete rotation.
RESULTS
The robot's targeting capability, evaluated using phantom models and swine cadavers, showed mean targeting errors of 0.48 and 2.84 mm, respectively. The duration of the targeting procedure is approximately 60 min, with an extra 10 min for each additional injection.
CONCLUSIONS
The presented robot does not affect imaging quality during MRI-guided procedures, and it enables a simplified workflow for MRI-guided spinal therapy.
背景
肌萎缩侧索硬化症（ALS）是一种神经退行性疾病，目前尚无治愈方法，治疗选择有限。最近的研究表明，将细胞疗法递送到脊髓腹角可以有效地阻止小型动物模型中与 ALS 相关的神经退行性变。
方法
我们开发了一种机器人系统，用于辅助 MRI 引导下的脊髓经皮注射。该针定位机器人由两个带有电动平移滑橇的线性轴组成，用于进行两自由度（2-DOF）的针平移，以及一个用于两自由度离散旋转的径向模板。
结果
使用体模模型和猪尸体评估了机器人的靶向能力，结果显示，分别为 0.48 和 2.84 毫米的平均靶向误差。靶向过程的持续时间约为 60 分钟，每增加一次注射则额外需要 10 分钟。
结论
所提出的机器人不会影响 MRI 引导过程中的成像质量，并且简化了 MRI 引导脊髓治疗的工作流程。
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