一种用于机器人辅助脊柱注射的 MR 条件下的针驱动器：设计改进和评估。
An MR-Conditional Needle Driver for Robot-Assisted Spinal Injections: Design Modifications and Evaluations.
出版信息
Annu Int Conf IEEE Eng Med Biol Soc. 2022 Jul;2022:3307-3312. doi: 10.1109/EMBC48229.2022.9871596.
Abstract
This paper introduces design modifications to our MR-Conditional, 2-degree-of-freedom (DOF), remotely-actuated needle driver for MRI-guided spinal injections. The new needle driver should better meet cleaning and sterilization guidelines needed for regulatory approval, preserve the sterile field during intraoperative needle attachment, and offer better ergonomics and intuitiveness when handling the device. Dy-namic and static force and torque required to properly install the needle driver onto our 4-DOF robot base are analyzed, which provide insight into the risks of intraoperative tool attachment in the setting of robot-assisted spinal injections under MRI guidance.
摘要
本文介绍了我们的磁共振条件下、2 自由度（DOF）、远程驱动的针驱动器的设计修改，用于 MRI 引导下的脊柱注射。新的针驱动器应更好地满足清洁和消毒指南的要求，以获得监管批准，在手术中针连接过程中保持无菌区域，并在操作设备时提供更好的人体工程学和直观性。分析了将针驱动器正确安装到我们的 4-DOF 机器人底座所需的动态和静态力和扭矩，这为在 MRI 引导下的机器人辅助脊柱注射中了解手术中工具连接的风险提供了依据。
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