Mri-Guided Targeted Needle Placement During Motion Using Hydrostatic Actuators
INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY(2020)
摘要
Background Magnetic resonance imaging (MRI) has unique advantages for guiding interventions, but the narrow space is a major challenge. This study evaluates the feasibility of a remote-controlled hydrostatic actuator system for MRI-guided targeted needle placement. Methods The effects of the hydrostatic actuator system on MR image quality were evaluated. Using a reference step-and-shoot method (SS) and the proposed actuator-assisted method (AA), two operators performed MRI-guided needle placement in targets (n = 12) in a motion phantom. Results The hydrostatic actuator system exhibited negligible impact on MR image quality. In dynamic targets, AA was significantly more accurate and precise than SS, with mean +/- SD needle-to-target error of 1.8 +/- 1.0 mm (operator 1) and 1.3 +/- 0.5 mm (operator 2). AA reduced the insertion time by 50% to 80% and total procedure time by 25%, compared to SS. Conclusions The proposed hydrostatic actuator system may improve accuracy and reduce procedure time for MRI-guided targeted needle placement during motion.
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关键词
Actuator systems, Image-guided interventions, Interventional MRI, Targeted needle placement
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