Li Gang, Patel Niravkumar A, Sharma Karun, Monfaredi Reza, Dumoulin Charles, Fritz Jan, Iordachita Iulian, Cleary Kevin
Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA.
Sheikh Zayed Institute for Pediatric Surgical Innovation, Childrens National Hospital, Washington, DC, USA.
IEEE Trans Med Robot Bionics. 2020 Nov;2(4):557-560. doi: 10.1109/tmrb.2020.3030532. Epub 2020 Oct 13.
This paper reports the development and initial cadaveric evaluation of a robotic framework for MRI-guided interventions using a body-mounted approach. The framework is developed based on modular design principles. The framework consists of a body-mounted needle placement manipulator, robot control software, robot controller, interventional planning workstation, and MRI scanner. The framework is modular in the sense that all components are connected independently, making it readily extensible and reconfigurable for supporting the clinical workflow of various interventional MRI procedures. Based on this framework we developed two body-mounted robots for musculoskeletal procedures. The first robot is a four-degree of freedom system called ArthroBot for shoulder arthrography in pediatric patients. The second robot is a six-degree of freedom system called PainBot for perineural injections used to treat pain in adult and pediatric patients. Body-mounted robots are designed with compact and lightweight structure so that they can be attached directly to the patient, which minimizes the effect of patient motion by allowing the robot to move with the patient. A dedicated clinical workflow is proposed for the MRI-guided musculoskeletal procedures using body-mounted robots. Initial cadaveric evaluations of both systems were performed to verify the feasibility of the systems and validate the clinical workflow.
本文报道了一种采用身体挂载方式的用于MRI引导介入的机器人框架的开发及初步尸体评估。该框架基于模块化设计原则开发。框架由一个身体挂载式针放置操纵器、机器人控制软件、机器人控制器、介入规划工作站和MRI扫描仪组成。从所有组件独立连接的意义上来说，该框架是模块化的，这使得它易于扩展和重新配置，以支持各种介入性MRI程序的临床工作流程。基于此框架，我们开发了两款用于肌肉骨骼手术的身体挂载式机器人。第一个机器人是一个四自由度系统，名为ArthroBot，用于儿科患者的肩关节造影。第二个机器人是一个六自由度系统，名为PainBot，用于成人和儿科患者的神经周围注射以治疗疼痛。身体挂载式机器人设计为紧凑且轻便的结构，以便它们可以直接连接到患者身上，通过让机器人与患者一起移动，将患者运动的影响降至最低。针对使用身体挂载式机器人的MRI引导肌肉骨骼手术，提出了一种专门的临床工作流程。对这两个系统都进行了初步尸体评估，以验证系统的可行性并验证临床工作流程。
