ArticleInternational journal of computer assisted radiology and surgery2020
Body-mounted robotic assistant for MRI-guided low back pain injection.
Article in International journal of computer assisted radiology and surgery, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 16 papers.
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Who cites it
16 citing papers in PubMed, 34 citations in OpenAlex.
- MRI guided HIFU robotic system application in feasibility study for treating uterine fibroids.Scientific reports · 2025Article
- Development of a Low-Profile, Piezoelectric Robot for MR-Guided Abdominal Needle Interventions.Annals of biomedical engineering · 2025Article
- Real-Time MR-Guided Lumbosacral Periradicular Injection Therapy Using a 0.55 T MRI System: A Phantom Study.Diagnostics (Basel, Switzerland) · 2025Article
- Design and Evaluation of Augmented Reality-Enhanced Robotic System for Epidural Interventions.Sensors (Basel, Switzerland) · 2024Article
- SlicerROS2: A research and development module for image-guided robotic interventions.IEEE transactions on medical robotics and bionics · 2024Article
- 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
- Modeling and Control of an MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME).IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2024Article
- A magnetic resonance conditional robot for lumbar spinal injection: Development and preliminary validation.The international journal of medical robotics + computer assisted surgery : MRCAS · 2024Article
- Open Source MR-Safe Pneumatic Radial Inflow Motor and Encoder (PRIME): Design and Manufacturing Guidelines.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2023Article
- Fluoroscopy-Guided Robotic System for Transforaminal Lumbar Epidural Injections.IEEE transactions on medical robotics and bionics · 2022Article
- MRI-guided lumbar spinal injections with body-mounted robotic system: cadaver studies.Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy · 2022Article
- Fully Actuated Body-Mounted Robotic System for MRI-Guided Lower Back Pain Injections: Initial Phantom and Cadaver Studies.IEEE robotics and automation letters · 2020Article
- Anesthetic considerations in spine surgery: What orthopaedic surgeon should know!Journal of clinical orthopaedics and traumaReview
- EVALUATION OF NEEDLE DRIVER DESIGNS FOR ROBOT-ASSISTED NEEDLE INSERTIONS UNDER MRI GUIDANCE.International Mechanical Engineering Congress and Exposition : [proceedings]. International Mechanical Engineering Congress and ExpositionArticle
- 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
Corrections and comments
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Authors and funding
8 authors at 2 institutions in 1 country.
Funding
Abstract
purposeThis paper presents the development of a body-mounted robotic assistant for magnetic resonance imaging (MRI)-guided low back pain injection. Our goal was to eliminate the radiation exposure of traditional X-ray guided procedures while enabling the exquisite image quality available under MRI. The robot is designed with a compact and lightweight profile that can be mounted directly on the patient's lower back via straps, thus minimizing the effect of patient motion by moving along with the patient. The robot was built with MR-conditional materials and actuated with piezoelectric motors so it can operate inside the MRI scanner bore during imaging and therefore streamline the clinical workflow by utilizing intraoperative MR images.
methodsThe robot is designed with a four degrees of freedom parallel mechanism, stacking two identical Cartesian stages, to align the needle under intraoperative MRI-guidance. The system targeting accuracy was first evaluated in free space with an optical tracking system, and further assessed with a phantom study under live MRI-guidance. Qualitative imaging quality evaluation was performed on a human volunteer to assess the image quality degradation caused by the robotic assistant.
resultsFree space positioning accuracy study demonstrated that the mean error of the tip position to be [Formula: see text] mm and needle angle to be [Formula: see text]. MRI-guided phantom study indicated the mean errors of the target to be [Formula: see text] mm, entry point to be [Formula: see text] mm, and needle angle to be [Formula: see text]. Qualitative imaging quality evaluation validated that the image degradation caused by the robotic assistant in the lumbar spine anatomy is negligible.
conclusionsThe study demonstrates that the proposed body-mounted robotic system is able to perform MRI-guided low back injection in a phantom study with sufficient accuracy and with minimal visible image degradation that should not affect the procedure.
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Registered trials
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.