ArticleInternational journal of computer assisted radiology and surgery2018
Development of a shoulder-mounted robot for MRI-guided needle placement: phantom study.
Article in International journal of computer assisted radiology and surgery, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
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Who cites it
8 citing papers in PubMed, 18 citations in OpenAlex.
- Body-Mounted MR-Conditional Robot for Minimally Invasive Liver Intervention.Annals of biomedical engineering · 2024Article
- Toward Autonomous Marker Localization for Lumbar Epidural Steroid Injection Robot.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2024Article
- Evaluation of a novel MRI-safe needle guidance toolkit for streamlined arthrography procedures.Scientific reports · 2023Article
- Toward Robust Partial-Image Based Template Matching Techniques for MRI-Guided Interventions.Journal of digital imaging · 2023Article
- Robotic Technology in Foot and Ankle Surgery: A Comprehensive Review.Sensors (Basel, Switzerland) · 2023Review
- Body-mounted robotic assistant for MRI-guided low back pain injection.International journal of computer assisted radiology and surgery · 2020Article
- GantryMate: A Modular MR-Compatible Assistance System for MR-Guided Needle Interventions.Tomography (Ann Arbor, Mich.) · 2019Article
- A Fully Actuated Body-Mounted Robotic Assistant for MRI-Guided Low Back Pain Injection.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and AutomationArticle
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Authors and funding
8 authors at 4 institutions in 1 country.
Funding
Abstract
purposeThis paper presents new quantitative data on a signal-to-noise ratio (SNR) study, distortion study, and targeting accuracy phantom study for our patient-mounted robot (called Arthrobot). Arthrobot was developed as an MRI-guided needle placement device for diagnostic and interventional procedures such as arthrography.
methodsWe present the robot design and inverse kinematics. Quantitative assessment results for SNR and distortion study are also reported. A respiratory motion study was conducted to evaluate the shoulder mounting method. A phantom study was conducted to investigate end-to-end targeting accuracy. Combined error considering targeting accuracy, respiratory motion, and structure deformation is also reported.
resultsThe SNR study showed that the SNR changes only 2% when the unpowered robot was placed on top of a standard water phantom. The distortion study showed that the maximum distortion from the ground truth was 2.57%. The average error associated with respiratory motion was 1.32 mm with standard deviation of 1.38 mm. Results of gel phantom targeting studies indicate average needle placement error of 1.64 mm, with a standard deviation of 0.90 mm.
conclusionsNoise and distortion of the MR images were not significant, and image quality in the presence of the robot was satisfactory for MRI-guided targeting. Combined average total error, adding mounting stability errors and structure deformation errors to targeting error, is estimated to be 3.4 mm with a standard deviation of 1.65 mm. In clinical practice, needle placement accuracy under 5 mm is considered sufficient for successful joint injection during shoulder arthrography. Therefore, for the intended clinical procedure, these results indicate that Arthrobot has sufficient positioning accuracy.
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