Multi-Imager Compatible, MR Safe, Remote Center of Motion Needle-Guide Robot

Abstract

We report the development of a new robotic system for direct image-guided interventions (DIGI; images acquired at the time of the intervention). The manipulator uses our previously reported pneumatic step motors and is entirely made of electrically nonconductive, nonmetallic, and nonmagnetic materials. It orients a needle-guide with two degrees of freedom (DoF) about a fulcrum point located below the guide using an innovative remote center of motion parallelogram type mechanism. The depth of manual needle insertion is preset with a third DoF, located remotely of the manipulator. Special consideration was given to the kinematic accuracy and the structural stiffness. The manipulator includes registration markers for image-to-robot registration. Based on the images, it may guide needles, drills, or other slender instruments to a target (OD < 10 mm). Comprehensive preclinical tests were performed. The manipulator is MR safe (ASTM F2503-13). Electromagnetic compatibility (EMC) testing (IEC 60601-1-2) of the system shows that it does not conduct or radiate EM emissions. The change in the signal to noise ratio of the MRI due to the presence and motion of the robot in the scanner is below 1%. The structural stiffness at the needle-guide is 33 N/mm. The angular accuracy and precision of the manipulator itself are 0.177° and 0.077°. MRI-guided targeting accuracy and precision in vitro were 1.71 mm and 0.51 mm, at an average target depth of ∼38 mm, with no adjustments. The system may be suitable for DIGI where [mm] accuracy lateral to the needle (2D) or [mm] in 3D is acceptable. The system is also multi-imager compatible and could be used with other imaging modalities.

MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization

“…To this end, we aim at developing intrinsically MR Safe and fluid-driven actuators, so that no EM material/power will exist in the MRI room. Previous examples are the MR Safe pneumatic stepper motor presented in [9,10] and the MR Safe pneumatic needle-guide robot [11].…”

Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials

“…Image quality was assessed using a 90 mm × 90 mm × 60 mm gelatin filled phantom (mixed 15:1 water:gelatin by weight) similar to the one used in [17]. The top 45 mm of the phantom is a homogeneous region to assess SNR while the bottom 15 mm is a grid of 12.5 mm × 12.5 mm squares to assess distortion.…”

“…SNR was calculated in a similar manner as for the device in [9], [17] based on NEMA standard [18]. Described briefly, in each image slice, s , containing the homogeneous section of the phantom a region of interest (ROI) is selected within said homogeneous section.…”

“…The noise, N , for a given slice is calculated based on the standard deviation of this difference image using Eq. 7, where u and v are the pixel indices which span the read encode and phase encode directions of the ROI [17]. Signal is calculated as the mean pixel intensity from within the ROI of both scan sequences as shown in Eq.…”

Design and implementation of a new cable‐driven robot for MRI‐guided breast biopsy

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