Super Resolution for Improved Positioning of an MRI-Guided Spinal Cellular Injection Robot-Reference-Cited by-同舟云学术

Super Resolution for Improved Positioning of an MRI-Guided Spinal Cellular Injection Robot

Published:2021-03 Issue:01n02 Volume:06 Page:2140002
ISSN:2424-905X
Container-title:Journal of Medical Robotics Research
language:en
Short-container-title:J. Med. Robot. Res.

Author:

Martinez Daniel Enrique¹,Meinhold Waiman¹,Oshinski John²,Hu Ai-Ping³,Ueda Jun⁴^ORCID

Affiliation:

1. Robotics PhD Program, Georgia Institute of Technology, North Ave NW, Atlanta GA 30332, USA

2. Department of Radiology, Emory University, 201 Dowman Dr, Atlanta GA 30322, USA

3. Intelligent Sustainable Technologies Division, Georgia Tech Research Institute, 640 Strong Street, Atlanta GA 30318, USA

4. The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, North Ave NW, Atlanta GA 30332, USA

Abstract

This paper presents the development of a magnetic resonance imaging (MRI)-conditional needle positioning robot designed for spinal cellular injection. High-accuracy targeting performance is achieved by the combination of a high precision, parallel-plane, needle-orientation mechanism utilizing linear piezoelectric actuators with an iterative super-resolution (SR) visual navigation algorithm using multi-planar MR imaging. In previous work, the authors have developed an MRI conditional robot with positioning performance exceeding the standard resolution of MRI, rendering the MRI resolution the limit for navigation. This paper further explores the application of SR to images for robot guidance, evaluating positioning performance through simulations and experimentally in benchtop and MRI experiments.

Funder

Directorate for Engineering

National Science Foundation

Publisher

World Scientific Pub Co Pte Ltd

Link

https://www.worldscientific.com/doi/pdf/10.1142/S2424905X2140002X

Reference22 articles.

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2. Results from Phase I Clinical Trial with Intraspinal Injection of Neural Stem Cells in Amyotrophic Lateral Sclerosis: A Long-Term Outcome

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5. A Direct Drive Parallel Plane Piezoelectric Needle Positioning Robot for MRI Guided Intraspinal Injection

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