CRANE：一种用于在医学成像孔内增强针具灵活性的冗余多自由度计算机断层扫描机器人
CRANE: A Redundant, Multi-Degree-of-Freedom Computed Tomography Robot for Heightened Needle Dexterity within a Medical Imaging Bore
AI总结：
本文提出CRANE机器人，一种CT兼容的冗余多自由度系统，通过高灵活性和自动规划控制，在成像孔内实现自然针具操作，满足临床精度要求。
摘要：
计算机断层扫描（CT）图像引导使得通过经皮途径使用针状工具对疾病（包括癌症和慢性疼痛）进行准确且安全的微创治疗成为可能。由于徒手调整的精度限制以及患者生理运动的影响，医生需要借助中间图像逐步插入和调整针具。为了尽量减少患者和医生所受的电离辐射暴露，扫描频率受到限制。机器人能够提供高位置精度，并以较少的扫描次数补偿生理运动。为此，机器人必须在受限的成像孔内操作，同时保持足够的灵活性以插入和操控针具。本文介绍了CRANE：CT机械臂与针具置入器，这是一种CT兼容机器人，其设计侧重于系统灵活性，使医生能够在扫描孔内像徒手操作一样自然地操控和插入针具。我们定义了适用于通用孔内图像引导针具置入机器人的抽象且可测量的临床驱动孔内灵活性指标，开发了用于孔内针具操控和设备设置的自动机器人规划与控制方法，并展示了冗余连杆设计在各种人体形态下提供灵活性，并在原位评估中满足目标准确性的临床要求。
英文摘要：
Computed Tomography (CT) image guidance enables accurate and safe minimally invasive treatment of diseases, including cancer and chronic pain, with needle-like tools via a percutaneous approach. The physician incrementally inserts and adjusts the needle with intermediate images due to the accuracy limitation of free-hand adjustment and patient physiological motion. Scanning frequency is limited to minimize ionizing radiation exposure for the patient and physician. Robots can provide high positional accuracy and compensate for physiological motion with fewer scans. To accomplish this, the robots must operate within the confined imaging bore while retaining sufficient dexterity to insert and manipulate the needle. This paper presents CRANE: CT Robotic Arm and Needle Emplacer, a CT-compatible robot with a design focused on system dexterity that enables physicians to manipulate and insert needles within the scanner bore as naturally as they would be able to by hand. We define abstract and measurable clinically motivated metrics for in-bore dexterity applicable to general-purpose intra-bore image-guided needle placement robots, develop an automatic robot planning and control method for intra-bore needle manipulation and device setup, and demonstrate the redundant linkage design provides dexterity across various human morphology and meets the clinical requirements for target accuracy during an in-situ evaluation.
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。
