A magnetic resonance conditional robot for lumbar spinal injection: Development and preliminary validation
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Published:2023-12-28
Issue:1
Volume:20
Page:
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ISSN:1478-5951
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Container-title:The International Journal of Medical Robotics and Computer Assisted Surgery
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language:en
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Short-container-title:Robotics Computer Surgery
Author:
Liu Depeng12ORCID,
Li Gang3,
Wang Shuyuan2,
Liu Zixuan2,
Wang Yanzhou2,
Connolly Laura4,
Usevitch David E.2,
Shen Guofeng1,
Cleary Kevin3,
Iordachita Iulian2
Affiliation:
1. School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China
2. Whiting School of Engineering Johns Hopkins University Baltimore Maryland USA
3. Sheikh Zayed Institute for Pediatric Surgical Innovation Children's National Hospital Washington District of Columbia USA
4. The Department of Electrical and Computer Engineering Queen's University Kingston Ontario Canada
Abstract
AbstractPurposeThis work presents the design and preliminary validation of a Magnetic Resonance (MR) conditional robot for lumbar injection for the treatment of lower back pain.MethodsThis is a 4‐degree‐of‐freedom (DOF) robot that is 200 × 230 × 130 mm3 in volume and has a mass of 0.8 kg. Its lightweight and compact features allow it to be directly affixed to patient's back, establishing a rigid connection, thus reducing positional errors caused by patient movements during treatment.ResultsTo validate the positioning accuracy of the needle by the robot, an electromagnetic (EM) tracking system and a needle with an EM sensor embedded in the tip were used for the free space evaluation with position accuracy of 0.88 ± 0.46 mm and phantom mock insertions using the Loop‐X CBCT scanner with target position accuracy of 3.62 ± 0.92 mm.ConclusionPreliminary experiments demonstrated that the proposed robot showed improvements and benefits in its rotation range, flexible needle adjustment, and sensor protection compared with previous and existing systems, offering broader clinical applications.
Funder
China Scholarship Council
National Natural Science Foundation of China
National Institutes of Health
Subject
Computer Science Applications,Biophysics,Surgery
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