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International Journal of Computer Assisted Radiology and Surgery

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11.08.2018 | Original Article

Development of a shoulder-mounted robot for MRI-guided needle placement: phantom study

verfasst von: Reza Monfaredi, Iulian Iordachita, Emmanuel Wilson, Raymond Sze, Karun Sharma, Axel Krieger, Stanley Fricke, Kevin Cleary

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 11/2018

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Abstract

Purpose

This 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.

Methods

We 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.

Results

The 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.

Conclusions

Noise 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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Titel: Development of a shoulder-mounted robot for MRI-guided needle placement: phantom study
verfasst von: Reza Monfaredi
Iulian Iordachita
Emmanuel Wilson
Raymond Sze
Karun Sharma
Axel Krieger
Stanley Fricke
Kevin Cleary
Publikationsdatum: 11.08.2018
Verlag: Springer International Publishing
Erschienen in: International Journal of Computer Assisted Radiology and Surgery / Ausgabe 11/2018
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-018-1839-y

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Springer Medizin

Development of a shoulder-mounted robot for MRI-guided needle placement: phantom study

Abstract

Purpose

Methods

Results

Conclusions

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Springer Medizin

Abstract

Purpose

Methods

Results

Conclusions

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