Evidence map›Paper›PMID 30997267›Full record

ArticleProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems2018

Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation.

Niravkumar A Patel, Jiawen Yan, David Levi, Reza Monfaredi, Kevin Cleary, Iulian Iordachita

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.

0numbers the graph read from it
0cells of the map it votes in
3citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

3 citing papers in PubMed.

  1. A magnetic resonance conditional robot for lumbar spinal injection: Development and preliminary validation.The international journal of medical robotics + computer assisted surgery : MRCAS · 2024
    Article
  2. State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions.Proceedings of the IEEE. Institute of Electrical and Electronics Engineers · 2022
    Article
  3. Body-mounted robotic assistant for MRI-guided low back pain injection.International journal of computer assisted radiology and surgery · 2020
    Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

6 authors.

Niravkumar A PatelN. Patel, J. Yan, D. Levi and I. Iordachita are with the Laboratory for Computational Sensing and Robotics, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218. J. Yan is also with Harbin Institute of Technology, Harbin, 150000 China. [npatel89@jhu.edu, jyan18@jhu.edu, dlevi3@jhu.edu, iordachita@jhu.edu].
Jiawen YanN. Patel, J. Yan, D. Levi and I. Iordachita are with the Laboratory for Computational Sensing and Robotics, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218. J. Yan is also with Harbin Institute of Technology, Harbin, 150000 China. [npatel89@jhu.edu, jyan18@jhu.edu, dlevi3@jhu.edu, iordachita@jhu.edu].
David LeviN. Patel, J. Yan, D. Levi and I. Iordachita are with the Laboratory for Computational Sensing and Robotics, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218. J. Yan is also with Harbin Institute of Technology, Harbin, 150000 China. [npatel89@jhu.edu, jyan18@jhu.edu, dlevi3@jhu.edu, iordachita@jhu.edu].
Reza MonfarediR. Monfaredi and K. Cleary are with Children/s National Health System, 111 Michigan Avenue, NW Washington, DC 20010 [rmonfare@childrensnational.org, kcleary@childrensnational.org].
Kevin ClearyR. Monfaredi and K. Cleary are with Children/s National Health System, 111 Michigan Avenue, NW Washington, DC 20010 [rmonfare@childrensnational.org, kcleary@childrensnational.org].
Iulian IordachitaN. Patel, J. Yan, D. Levi and I. Iordachita are with the Laboratory for Computational Sensing and Robotics, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218. J. Yan is also with Harbin Institute of Technology, Harbin, 150000 China. [npatel89@jhu.edu, jyan18@jhu.edu, dlevi3@jhu.edu, iordachita@jhu.edu].

Funding

MRI Compatible Robot for Improved Pain Injections in Adults and ChildrenR01EB025179 · NIBIB · CHILDREN'S RESEARCH INSTITUTE · PI CLEARY, KEVIN R. · 2018 to 2021
$2.8M
MRI Compatible Body-Mounted Robot to Streamline Pediatric Shoulder ArthrographyR01EB020003 · NIBIB · CHILDREN'S RESEARCH INSTITUTE · PI CLEARY, KEVIN R. · 2016 to 2019
$2.0M
NIBIB NIH HHS R01 EB020003NIBIB NIH HHS R01 EB025179
6 · The paper itself

Abstract

This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the robot is optimized to be light weight and compact such that it could be mounted to the patient body. It has a modular design that can be adopted for assisting various image-guided, needle-based percutaneous interventions such as arthrography, biopsy and brachytherapy seed placement. The robot mechanism and the control system are designed and manufactured with components compatible with imaging modalities including Magnetic Resonance Imaging (MRI) and Computed Tomography (CT). The current version of the robot presented in this paper is optimized for shoulder arthrography under MRI guidance; a Z-shaped fiducial frame is attached to the robot, providing accurate and repeatable robot registration with the MR scanner coordinate system. Here we present the mechanical design of the manipulator, robot kinematics, robot calibration procedure, and preliminary bench-top accuracy assessment. The bench-top accuracy evaluation of the robotic manipulator shows average translational error of 1.01 mm and 0.96 mm in X and Z axes, respectively, and average rotational error of 3.06 degrees and 2.07 degrees about the X and Z axes, respectively.

Identifiers

PMID30997267
PMCPMC6463871

What OpenQuestion holds

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Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.