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Shoulder-mounted Robot for MRI-Guided Arthrography: Clinically Optimized System.

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    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
    |January 18, 2020
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    This study presents a new MRI-compatible robot for arthrography, simplifying the procedure to one stage. The robot achieves high accuracy in needle insertion, with an error of 1.7 mm at 50 mm depth.

    Area of Science:

    • Medical Robotics
    • Magnetic Resonance Imaging (MRI)
    • Orthopedic Procedures

    Background:

    • Traditional arthrography involves a two-stage process using fluoroscopy and MRI.
    • This multi-stage approach can be time-consuming and may introduce inaccuracies.
    • There is a need for integrated systems to improve efficiency and precision.

    Purpose of the Study:

    • To introduce a novel, compact, and lightweight patient-mounted robot for MRI-guided arthrography.
    • To enhance the accuracy of needle insertion in arthrography procedures through an improved transmission system.
    • To enable a streamlined, one-stage arthrography procedure under MRI guidance.

    Main Methods:

    • Development of a 4 degree-of-freedom (DOF) MRI-compatible robotic system.

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  • Implementation of an improved transmission system utilizing novel mechanical components.
  • Conducting an accuracy study to evaluate the system's performance in needle positioning.

    • Main Results:

    • The developed robot is compact, lightweight, and MRI-compatible.
    • The improved transmission system significantly enhances needle insertion accuracy.
    • Experimental results demonstrate a needle tip positioning error of 1.7 mm at a 50 mm depth.

    Conclusions:

    • The novel robotic system offers a more accurate and efficient one-stage solution for MRI-guided arthrography.
    • The improved transmission system is key to achieving high precision in needle placement.
    • This technology has the potential to simplify and improve arthrography procedures.