用于腰椎注射的磁共振条件机器人：开发与初步验证。
A magnetic resonance conditional robot for lumbar spinal injection: Development and preliminary validation.
机构信息
School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China.
Whiting School of Engineering, Johns Hopkins University, Baltimore, Maryland, USA.
出版信息
Int J Med Robot. 2024 Feb;20(1):e2618. doi: 10.1002/rcs.2618.
PURPOSE
This work presents the design and preliminary validation of a Magnetic Resonance (MR) conditional robot for lumbar injection for the treatment of lower back pain.
METHODS
This is a 4-degree-of-freedom (DOF) robot that is 200 × 230 × 130 mm3 in volume and has a mass of 0.8 kg. Its lightweight and compact features allow it to be directly affixed to patient's back, establishing a rigid connection, thus reducing positional errors caused by patient movements during treatment.
RESULTS
To validate the positioning accuracy of the needle by the robot, an electromagnetic (EM) tracking system and a needle with an EM sensor embedded in the tip were used for the free space evaluation with position accuracy of 0.88 ± 0.46 mm and phantom mock insertions using the Loop-X CBCT scanner with target position accuracy of 3.62 ± 0.92 mm.
CONCLUSION
Preliminary experiments demonstrated that the proposed robot showed improvements and benefits in its rotation range, flexible needle adjustment, and sensor protection compared with previous and existing systems, offering broader clinical applications.
目的
本研究介绍了一种用于治疗下腰痛的腰椎内注射用磁共振（MR）条件机器人的设计和初步验证。
方法
这是一个 4 自由度（DOF）机器人，体积为 200×230×130mm3，质量为 0.8kg。其重量轻、结构紧凑的特点使其能够直接贴附在患者背部，建立刚性连接，从而减少治疗过程中患者运动引起的位置误差。
结果
为了验证机器人引导针的定位准确性，使用电磁（EM）跟踪系统和带有 EM 传感器的针进行自由空间评估，位置精度为 0.88±0.46mm，使用 Loop-X CBCT 扫描仪进行模拟针插入，目标位置精度为 3.62±0.92mm。
结论
初步实验表明，与以往和现有的系统相比，所提出的机器人在旋转范围、灵活的针调整和传感器保护方面具有改进和优势，为更广泛的临床应用提供了可能。
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