Gang Li1, Niravkumar A Patel1, Andreas Melzer2, Karun Sharma3, Iulian Iordachita1, Kevin Cleary3. 1. Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA. 2. Institute of Medical Science and Technology, University of Dundee, Dundee, UK. 3. Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Health System, Washington DC, USA.
Abstract
INTRODUCTION: This paper reports the system integration and cadaveric assessment of a body-mounted robotic system for MRI-guided lumbar spine injections. The system is developed to enable MR-guided interventions in closed bore magnet and avoid problems due to patient movement during cannula guidance. MATERIAL AND METHODS: The robot is comprised by a lightweight and compact structure so that it can be mounted directly onto the lower back of a patient using straps. Therefore, it can minimize the influence of patient movement by moving with the patient. The MR-Conditional robot is integrated with an image-guided surgical planning workstation. A dedicated clinical workflow is created for the robot-assisted procedure to improve the conventional freehand MRI-guided procedure. RESULTS: Cadaver studies were performed with both freehand and robot-assisted approaches to validate the feasibility of the clinical workflow and to assess the positioning accuracy of the robotic system. The experiment results demonstrate that the root mean square (RMS) error of the target position to be 2.57 ± 1.09 mm and of the insertion angle to be 2.17 ± 0.89°. CONCLUSION: The robot-assisted approach is able to provide more accurate and reproducible cannula placements than the freehand procedure, as well as to reduce the number of insertion attempts.
INTRODUCTION: This paper reports the system integration and cadaveric assessment of a body-mounted robotic system for MRI-guided lumbar spine injections. The system is developed to enable MR-guided interventions in closed bore magnet and avoid problems due to patient movement during cannula guidance. MATERIAL AND METHODS: The robot is comprised by a lightweight and compact structure so that it can be mounted directly onto the lower back of a patient using straps. Therefore, it can minimize the influence of patient movement by moving with the patient. The MR-Conditional robot is integrated with an image-guided surgical planning workstation. A dedicated clinical workflow is created for the robot-assisted procedure to improve the conventional freehand MRI-guided procedure. RESULTS: Cadaver studies were performed with both freehand and robot-assisted approaches to validate the feasibility of the clinical workflow and to assess the positioning accuracy of the robotic system. The experiment results demonstrate that the root mean square (RMS) error of the target position to be 2.57 ± 1.09 mm and of the insertion angle to be 2.17 ± 0.89°. CONCLUSION: The robot-assisted approach is able to provide more accurate and reproducible cannula placements than the freehand procedure, as well as to reduce the number of insertion attempts.
Authors: Niravkumar A Patel; Gang Li; Weijian Shang; Marek Wartenberg; Tamas Heffter; Everette C Burdette; Iulian Iordachita; Junichi Tokuda; Nobuhiko Hata; Clare M Tempany; Gregory S Fischer Journal: J Med Robot Res Date: 2018-05-15
Authors: Gang Li; Niravkumar A Patel; Jan Hagemeister; Jiawen Yan; Di Wu; Karun Sharma; Kevin Cleary; Iulian Iordachita Journal: Int J Comput Assist Radiol Surg Date: 2019-10-17 Impact factor: 2.924
Authors: Jan Fritz; Christoph Thomas; Stephan Clasen; Claus D Claussen; Jonathan S Lewin; Phillipe L Pereira Journal: AJR Am J Roentgenol Date: 2009-04 Impact factor: 3.959
Authors: Di Wu; Gang Li; Niravkumar Patel; Jiawen Yan; Gyeong Hu Kim; Reza Monfaredi; Kevin Cleary; Iulian Iordachita Journal: Annu Int Conf IEEE Eng Med Biol Soc Date: 2019-07
Authors: Michael Friebe; Juan Sanchez; Sathish Balakrishnan; Alfredo Illanes; Yeshaswini Nagaraj; Robert Odenbach; Marwah Matooq; Gabriele Krombach; Michael Vogele; Axel Boese Journal: Med Devices (Auckl) Date: 2018-03-15