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Published on: May 11, 2020
Towards Robot-Assisted MRI-Guided Lumbar Injections.
Tyler Lehrfeld1,2, Qinhan Wang1,2, Aabhas Jain1,2
1Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA.
Summary
A new MRI-compatible robotic system enhances lumbar epidural injections. This robot-assisted approach achieves sub-millimeter precision for accurate drug delivery, improving patient outcomes.
Area of Science:
- Robotics
- Medical Imaging
- Neurosurgery
Background:
- Precise needle placement is critical for effective lumbar epidural injections.
- Intraoperative MRI guidance combined with robotic assistance offers enhanced accuracy and dexterity.
Purpose of the Study:
- To present a 4-degree-of-freedom (DOF) MRI-compatible robotic system for assisting lumbar injections.
- To improve the accuracy and consistency of lumbar epidural procedures.
Main Methods:
- Designed a modular robotic system with an actuation unit, linkage mechanism, and needle placer.
- Derived system kinematics and implemented a control framework with backlash compensation.
- Conducted workspace analysis and experimental validation of the prototype.
Main Results:
- The system demonstrated an effective workspace of ±72.9 mm (medial-lateral) and ±32.5 mm (superior-inferior) with >25° tilting range.
- Experimental evaluation validated sub-millimeter precision with an average deviation of 0.33 mm.
- Confirmed the feasibility of accurate and repeatable needle guidance.
Conclusions:
- The developed MRI-compatible robotic system shows significant potential for robot-assisted, MRI-guided lumbar injections.
- This technology marks a step toward clinical translation for improved procedural accuracy and patient safety.
