In this thesis, a 6-DOF body-mounted robot for MRI-guided pain injection in the lower back is introduced. This robot is able to manipulate the needle inside a closed-bore MRI scanner under the control of interventional radiologists inside MRI scanner room and console room. The robotic system consists of a 2-DOF needle-driving device and a 4-DOF Cartesian base robot. The 2-DOF needle-driving device adopts a novel beaded chain transmission to reduce the weight of the patient-end device and minimize the potential imaging noise introduced by the actuation electronics. Moreover, the structure and the kinematic analysis of the 4-DOF base robot are presented here. The registration procedure of the needle-driving device as well as the clinical workflow with this robot are also proposed. Finally, we carry out a series of experiments such as accuracy study under camera imaging feedback, force/torque assessment and phantom study under real-time MR imaging guidance to validate the needle driving device. The accuracy evaluation of the device in the MRI environment demonstrates a small mean needle targeting error (< 1.5 mm) in the phantom study.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Body-Mounted Robot for MRI-Guided Percutaneous Interventions


    Beteiligte:
    Wu, Di (Autor:in)

    Erscheinungsdatum :

    2020-03-12


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    620 / 629



    Percutaneous inner-ear access via an image-guided industrial robot system

    Baron, S. / Eilers, H. / Munske, B. et al. | BASE | 2010

    Freier Zugriff


    MRI-guided lumbar spinal injections with body-mounted robotic system:cadaver studies

    Li, Gang / Patel, Niravkumar A. / Melzer, Andreas et al. | BASE | 2022

    Freier Zugriff

    Robot guided reconfiguration in the car body assembly

    Trantin, H. / Kovac, I. / Frank, A. et al. | Tema Archiv | 2005


    Osteoid Osteoma-CT Guided Percutaneous Laser Ablation

    Gupta, A. K. / Thomas, B. / Joseph, S. et al. | British Library Conference Proceedings | 2000