用于微创肝脏介入的体表安装MR兼容机器人
Body-mounted MR-conditional Robot for Minimally Invasive Liver Intervention
AI总结：
提出一种可在封闭孔径MR扫描器中运行的体表安装MR兼容机器人，通过3D打印气动涡轮驱动双自由度XY平台辅助进针，实验验证其进针误差为2.6±1.3 mm，有望提升MR引导微波消融的精度与工作流程。
摘要：
MR引导微波消融（MWA）已被证明在治疗小尺寸肝细胞癌（HCC）方面有效，但现有先进技术因进针的速度和精度问题而面临工作流程欠佳。本文提出一种紧凑的体表安装MR兼容机器人，可在封闭孔径MR扫描器中运行以实现精准进针引导。该机器人平台由两个堆叠的笛卡尔XY平台组成，每个平台具有两个自由度，以辅助进针引导。机器人采用3D打印气动涡轮机及MR兼容锥齿轮传动系统驱动。气动阀门与控制机电系统位于MRI控制室内，通过气动传输管线和光纤与机器人连接。自由空间实验表明，在80 mm进针深度下，机器人辅助进针误差为2.6±1.3 mm。MR引导体模实验验证了机器人的MR兼容性及靶向性能。未来工作将聚焦系统优化及动物实验验证。
英文摘要：
MR-guided microwave ablation (MWA) has proven effective in treating hepatocellular carcinoma (HCC) with small-sized tumors, but the state-of-the-art technique suffers from sub-optimal workflow due to speed and accuracy of needle placement. This paper presents a compact body-mounted MR-conditional robot that can operate in closed-bore MR scanners for accurate needle guidance. The robotic platform consists of two stacked Cartesian XY stages, each with two degrees of freedom, that facilitate needle guidance. The robot is actuated using 3D-printed pneumatic turbines with MR-conditional bevel gear transmission systems. Pneumatic valves and control mechatronics are located inside the MRI control room and are connected to the robot with pneumatic transmission lines and optical fibers. Free space experiments indicated robot-assisted needle insertion error of 2.6$\pm$1.3 mm at an insertion depth of 80 mm. The MR-guided phantom studies were conducted to verify the MR-conditionality and targeting performance of the robot. Future work will focus on the system optimization and validations in animal trials.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
