Body-Mounted Robot for MRI-Guided Percutaneous Interventions

You are here: Homepage > Search

Body-Mounted Robot for MRI-Guided Percutaneous Interventions

Free access

Wu, Di

In this thesis, a 6-DOF body-mounted robot for MRI-guided pain injection in the lower back is introduced. This robot is able to manipulate the needle inside a closed-bore MRI scanner under the control of interventional radiologists inside MRI scanner room and console room. The robotic system consists of a 2-DOF needle-driving device and a 4-DOF Cartesian base robot. The 2-DOF needle-driving device adopts a novel beaded chain transmission to reduce the weight of the patient-end device and minimize the potential imaging noise introduced by the actuation electronics. Moreover, the structure and the kinematic analysis of the 4-DOF base robot are presented here. The registration procedure of the needle-driving device as well as the clinical workflow with this robot are also proposed. Finally, we carry out a series of experiments such as accuracy study under camera imaging feedback, force/torque assessment and phantom study under real-time MR imaging guidance to validate the needle driving device. The accuracy evaluation of the device in the MRI environment demonstrates a small mean needle targeting error (< 1.5 mm) in the phantom study.