ArticleIEEE robotics and automation letters2020
Fully Actuated Body-Mounted Robotic System for MRI-Guided Lower Back Pain Injections: Initial Phantom and Cadaver Studies.
Article in IEEE robotics and automation letters, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 14 papers.
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Who cites it
14 citing papers in PubMed.
- MRI guided HIFU robotic system application in feasibility study for treating uterine fibroids.Scientific reports · 2025Article
- An MR-Safe Pneumatic Stepper Motor: Design, Control, and Characterization.Journal of medical devices · 2025Article
- Simulation-based Flexible Needle Control with Single-core FBG Feedback for Spinal Injections.IEEE transactions on medical robotics and bionics · 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
- A magnetic resonance conditional robot for lumbar spinal injection: Development and preliminary validation.The international journal of medical robotics + computer assisted surgery : MRCAS · 2024Article
- Current State of Robotics in Interventional Radiology.Cardiovascular and interventional radiology · 2023Review
- MRI-guided sacroiliac joint injections in children and adults: current practice and future developments.Skeletal radiology · 2023Review
- In Situ Flexible Needle Adjustment Towards MRI-Guided Spinal Injections Based on Finite Element Simulation.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2023Article
- Flexible Needle Bending Model for Spinal Injection Procedures.IEEE robotics and automation letters · 2023Article
- An MR-Conditional Needle Driver for Robot-Assisted Spinal Injections: Design Modifications and Evaluations.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2022Article
- 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 · 2022Article
- Body-Mounted Robotics for Interventional MRI Procedures.IEEE transactions on medical robotics and bionics · 2020Article
- 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
- Towards Safe In Situ Needle Manipulation for Robot Assisted Lumbar Injection in Interventional MRI.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and SystemsArticle
Corrections and comments
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Authors and funding
11 authors.
Funding
Abstract
This paper reports the improved design, system integration, and initial experimental evaluation of a fully actuated body-mounted robotic system for real-time MRI-guided lower back pain injections. The 6-DOF robot is composed of a 4-DOF needle alignment module and a 2-DOF remotely actuated needle driver module, which together provide a fully actuated manipulator that can operate inside the scanner bore during imaging. The system minimizes the need to move the patient in and out of the scanner during a procedure, and thus may shorten the procedure time and streamline the clinical workflow. The robot is devised with a compact and lightweight structure that can be attached directly to the patient's lower back via straps. This approach minimizes the effect of patient motion by allowing the robot to move with the patient. The robot is integrated with an image-based surgical planning module. A dedicated clinical workflow is proposed for robot-assisted lower back pain injections under real-time MRI guidance. Targeting accuracy of the system was evaluated with a real-time MRI-guided phantom study, demonstrating the mean absolute errors (MAE) of the tip position to be 1.50±0.68mm and of the needle angle to be 1.56±0.93°. An initial cadaver study was performed to validate the feasibility of the clinical workflow, indicating the maximum error of the position to be less than 1.90mm and of the angle to be less than 3.14°.
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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.