Development of MR-Conditional Robot for Liver Interventions

แนวคิดหลัก

Compact MR-conditional robot facilitates accurate needle guidance in liver interventions.

บทคัดย่อ

This article presents a novel body-mounted MR-conditional robot designed for minimally invasive liver interventions. The robot consists of two stacked Cartesian XY stages, each with two degrees of freedom, enabling precise needle guidance within closed-bore MRI scanners. Key highlights include the hardware design, mechatronic system, control strategy, and clinical workflow. Experimental validations demonstrate the robot's accuracy in free-space targeting and MRI phantom studies.

สถิติ

Free space experiments indicated a needle insertion error of 2.6±1.3 mm at an 80 mm depth.
Position error across all targets was found to be 2.6±1.3 mm during free-space targeting validation.
The average position error for the needle tip was 2.9±2.1 mm in MRI phantom studies.

คำพูด

"The primary challenges in interventional MR-guided abdominal robot development include ensuring MR-conditionality and accurate control of the 4 degrees of freedom required for effective needle guidance."
"Despite being a widely accepted approach, accurate and efficient delivery of thermal energy poses a significant technical challenge due to difficulties involved with accurate MWA needle placement."

ข้อมูลเชิงลึกที่สำคัญจาก

Body-mounted MR-conditional Robot for Minimally Invasive Liver Intervention

by Zhefeng Huan... ที่ arxiv.org 03-26-2024

https://arxiv.org/pdf/2310.07822.pdf

สอบถามเพิ่มเติม

How can the robot's workspace be expanded to allow for more diverse needle paths?

To expand the robot's workspace and enable more diverse needle paths, several strategies can be implemented. One approach is to optimize the design of the Cartesian stages to reduce their size while maintaining structural integrity. This reduction in size would allow for a closer proximity between the two stages, increasing the incline angle range of the spherical joints and providing a wider range of motion for the needle guide. Additionally, incorporating flexible or telescopic components into the robotic system could enhance its reach and flexibility, enabling it to access targets from various angles within confined spaces.

What are the potential limitations or risks associated with using this robotic system in clinical practice?

While this robotic system shows promise for MR-guided interventions, there are potential limitations and risks that need to be considered before clinical implementation. Some key considerations include:

Accuracy: Despite achieving sub-millimeter accuracy in positioning during testing, real-world conditions may introduce factors such as patient movement or tissue deformation that could impact targeting precision.
Safety: The use of pneumatic systems introduces complexities related to pressure control and leakage risk within an MRI environment where safety standards must be rigorously upheld.
Integration: Seamless integration with existing MRI equipment and workflows is crucial but may present challenges due to space constraints or interference with imaging quality.
Cost: The initial investment cost for implementing such advanced robotics in healthcare settings can be substantial, requiring careful cost-benefit analysis.

How might advancements in dynamic MRI image feedback enhance the accuracy and capabilities of this robotic system?

Advancements in dynamic MRI image feedback have significant potential to enhance both accuracy and capabilities of this robotic system:

Real-time Visualization: Dynamic MRI feedback allows continuous visualization during procedures, enabling precise monitoring of needle placement relative to target structures.
Motion Compensation: By integrating motion tracking data from dynamic MR images, adjustments can be made in real-time to compensate for patient movements or anatomical shifts.
Path Planning Optimization: Advanced imaging techniques can facilitate automated path planning algorithms based on real-time tissue information obtained from dynamic MRI scans, improving procedural efficiency and accuracy.
Thermometry Feedback Integration: Dynamic MR thermometry feedback enables temperature monitoring during thermal ablation procedures, enhancing treatment efficacy while ensuring safety by preventing damage to surrounding tissues through accurate heat delivery control.

By leveraging these advancements in dynamic MRI image feedback technology, clinicians can benefit from improved guidance precision and enhanced procedural outcomes when utilizing this robotic system for interventional procedures under magnetic resonance imaging guidance (MRIG).