一种用于MRI兼容前列腺机器人系统的附加式差速驱动初步系统
A Preliminary Add-on Differential Drive System for MRI-Compatible Prostate Robotic System
AI总结：
针对MRI引导前列腺活检中针头偏转导致靶向精度不足的问题，研发了配备2自由度MRI兼容针头驱动器的新型差速驱动原型，验证了其可行性与高精度，为提升活检精度提供了有潜力的方案。
摘要：
MRI靶向活检相较于传统的随机六点活检已展现出显著优势，能检测出更多具有临床意义的癌症并改善风险分层。然而，针头靶向精度——尤其是在经会阴MRI引导活检中——因针头偏转问题面临挑战。这会对患者预后产生负面影响，若癌组织未被正确采集，还会导致重复取样和诊断不准确。为解决该问题，我们开发了一款新型差速驱动原型，旨在提升针头控制能力与靶向精度。该系统配备2自由度（2-DOF）MRI兼容协作式针头驱动器，将机器人置于远离MRI成像区域的位置，最大程度减少图像伪影与畸变。通过采用两台电机实现针头同步插入与旋转且无相对运动，该设计降低了MRI干扰。在本研究中，我们介绍了两种机械差速驱动设计：滚珠丝杠/花键型与丝杠/衬套型，并探究了空心式与侧带轮式两种差速结构。通过低分辨率快速原型制作的验证实验，证实了差速驱动应用于前列腺活检的可行性，其中定制的空心式混合超声电机（USM）实现了75 rpm的旋转速度，侧带轮差速结构进一步将速度提升至168 rpm，非常适合针头旋转应用。精度评估显示，插入与旋转运动的误差均极小，表明该概念验证设计具备进一步开发的巨大潜力。最终，这款差速驱动系统为解决MRI引导前列腺活检中针头靶向精度这一关键问题提供了极具前景的解决方案。
英文摘要：
MRI-targeted biopsy has shown significant advantages over conventional random sextant biopsy, detecting more clinically significant cancers and improving risk stratification. However, needle targeting accuracy, especially in transperineal MRI-guided biopsies, presents a challenge due to needle deflection. This can negatively impact patient outcomes, leading to repeated sampling and inaccurate diagnoses if cancerous tissue isn't properly collected. To address this, we developed a novel differential drive prototype designed to improve needle control and targeting precision. This system, featuring a 2-degree-of-freedom (2-DOF) MRI-compatible cooperative needle driver, distances the robot from the MRI imaging area, minimizing image artifacts and distortions. By using two motors for simultaneous needle insertion and rotation without relative movement, the design reduces MRI interference. In this work, we introduced two mechanical differential drive designs: the ball screw/spline and lead screw/bushing types, and explored both hollow-type and side-pulley differentials. Validation through low-resolution rapid-prototyping demonstrated the feasibility of differential drives in prostate biopsies, with the custom hollow-type hybrid ultrasonic motor (USM) achieving a rotary speed of 75 rpm. The side-pulley differential further increased the speed to 168 rpm, ideal for needle rotation applications. Accuracy assessments showed minimal errors in both insertion and rotation motions, indicating that this proof-of-concept design holds great promise for further development. Ultimately, the differential drive offers a promising solution to the critical issue of needle targeting accuracy in MRI-guided prostate biopsies.
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