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Body-Mounted MR-Conditional Robot for Minimally Invasive Liver Intervention.
Huang, Zhefeng; Gunderman, Anthony L; Wilcox, Samuel E; Sengupta, Saikat; Shah, Jay; Lu, Aiming; Woodrum, David; Chen, Yue.
Afiliación
  • Huang Z; Institute of Robotics and Intelligent Machines, Georgia Institute of Technology, 801 Atlantic Dr NW, Atlanta, GA, 30332, USA.
  • Gunderman AL; Institute of Robotics and Intelligent Machines, Georgia Institute of Technology, 801 Atlantic Dr NW, Atlanta, GA, 30332, USA.
  • Wilcox SE; Institute of Robotics and Intelligent Machines, Georgia Institute of Technology, 801 Atlantic Dr NW, Atlanta, GA, 30332, USA.
  • Sengupta S; Vanderbilt University Institute of Imaging Science, Vanderbilt University Medical Center, 1161 21st Ave South Medical Center North, Nashville, TN, 37232, USA.
  • Shah J; Department of Radiology, Emory University, 1364 Clifton Rd, Atlanta, GA, 30329, USA.
  • Lu A; Department of Radiology, Mayo Clinic, 200 1st St SW, Rochester, MN, 55905, USA.
  • Woodrum D; Department of Radiology, Mayo Clinic, 200 1st St SW, Rochester, MN, 55905, USA.
  • Chen Y; Institute of Robotics and Intelligent Machines, Georgia Institute of Technology, 801 Atlantic Dr NW, Atlanta, GA, 30332, USA. yue.chen@bme.gatech.edu.
Ann Biomed Eng ; 52(8): 2065-2075, 2024 Aug.
Article en En | MEDLINE | ID: mdl-38634953
ABSTRACT
MR-guided microwave ablation (MWA) has proven effective in treating hepatocellular carcinoma (HCC) with small-sized tumors, but the state-of-the-art technique suffers from sub-optimal workflow due to the limited accuracy provided by the manual needle insertions. This paper presents a compact body-mounted MR-conditional robot that can operate in closed-bore MR scanners for accurate needle guidance. The robotic platform consists of two stacked Cartesian XY stages, each with two degrees of freedom, that facilitate needle insertion pose control. The robot is actuated using 3D-printed pneumatic turbines with MR-conditional bevel gear transmission systems. Pneumatic valves and control mechatronics are located inside the MRI control room and are connected to the robot with pneumatic transmission lines and optical fibers. Free-space experiments indicated robot-assisted needle insertion error of 2.6 ± 1.3 mm at an insertion depth of 80 mm. The MR-guided phantom studies were conducted to verify the MR-conditionality and targeting performance of the robot. Future work will focus on the system optimization and validations in animal trials.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Imagen por Resonancia Magnética / Procedimientos Quirúrgicos Robotizados Límite: Humans Idioma: En Revista: Ann Biomed Eng Año: 2024 Tipo del documento: Article País de afiliación: Estados Unidos Pais de publicación: Estados Unidos
Texto completo
Añadir a Mi BVS
Imprimir
XML
PubMed Links
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Imagen por Resonancia Magnética / Procedimientos Quirúrgicos Robotizados Límite: Humans Idioma: En Revista: Ann Biomed Eng Año: 2024 Tipo del documento: Article País de afiliación: Estados Unidos Pais de publicación: Estados Unidos