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Body-Mounted Robotics for Interventional MRI Procedures.

Gang Li1, Niravkumar A Patel1, Karun Sharma2

  • 1Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA.

IEEE Transactions on Medical Robotics and Bionics
|March 29, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a modular, body-mounted robotic framework for MRI-guided interventions. Initial tests show feasibility for musculoskeletal procedures like shoulder arthrography and perineural injections.

Keywords:
MRI-guided interventionarthrographybody-mounted robotchronic pain managementmusculoskeletal procedure

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Area of Science:

  • Medical Robotics
  • Interventional Radiology
  • Biomedical Engineering

Background:

  • MRI-guided interventions offer precision but are challenged by patient motion.
  • Existing robotic systems may lack adaptability for diverse clinical workflows.

Purpose of the Study:

  • To develop and evaluate a modular, body-mounted robotic framework for MRI-guided interventions.
  • To create adaptable robotic systems for specific musculoskeletal procedures.
  • To validate a clinical workflow for these novel robotic interventions.

Main Methods:

  • A modular framework was designed with a body-mounted needle manipulator, control software, and planning workstation.
  • Two robots, ArthroBot (4-DOF) and PainBot (6-DOF), were developed for shoulder arthrography and perineural injections, respectively.
  • The body-mounted design allows robots to move with the patient, minimizing motion artifacts.

Main Results:

  • The framework's modularity enables extensibility and reconfiguration for various MRI procedures.
  • ArthroBot and PainBot were successfully developed and integrated into the framework.
  • Initial cadaveric evaluations demonstrated the feasibility of the robotic systems and the proposed clinical workflow.

Conclusions:

  • The developed body-mounted robotic framework is a feasible platform for MRI-guided musculoskeletal interventions.
  • The modular design enhances adaptability for different procedures and clinical settings.
  • This approach holds promise for improving accuracy and efficiency in interventional radiology.