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Development of a shoulder-mounted robot for MRI-guided needle placement: phantom study
Reza Monfaredi1, Iulian Iordachita2, Emmanuel Wilson3
1Sheikh Zayed Institute for Pediatric Surgical Innovation, Children's National Health System, Washington, DC, USA. RMonfare@childrensnational.org.
International Journal of Computer Assisted Radiology and Surgery
|August 13, 2018
Summary
The Arthrobot, an MRI-guided needle placement robot, demonstrated minimal image distortion and noise. Its targeting accuracy is sufficient for shoulder arthrography, with a combined average error of 3.4 mm.
Area of Science:
- Medical robotics
- Image-guided interventions
- Orthopedic procedures
Background:
- MRI-guided interventions require precise instrument navigation.
- Existing systems may face challenges with image quality and accuracy.
- Arthrobot is a novel patient-mounted robot designed for MRI-guided needle placement.
Purpose of the Study:
- To quantitatively evaluate the performance of the Arthrobot system.
- To assess signal-to-noise ratio (SNR), image distortion, and targeting accuracy.
- To determine the suitability of Arthrobot for procedures like shoulder arthrography.
Main Methods:
- Designed the robot and its inverse kinematics.
- Conducted SNR and distortion studies using phantoms.
- Evaluated mounting stability with a respiratory motion study.
- Performed phantom studies for end-to-end targeting accuracy assessment.
Main Results:
- SNR changes were minimal (2%) with the robot present.
- Maximum image distortion was 2.57%.
- Average targeting error was 1.64 mm (SD 0.90 mm), with motion contributing 1.32 mm (SD 1.38 mm).
Conclusions:
- Arthrobot minimally impacts MRI image quality (SNR and distortion).
- The system achieves satisfactory targeting accuracy for MRI-guided procedures.
- Combined average total error is 3.4 mm (SD 1.65 mm), meeting clinical requirements for shoulder arthrography.
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