起重机:一个多余的,多自由度的计算机断层扫描机器人,用于在医学成像钻孔内提高针头的敏捷性
Dimitrious Schreiber1,2, Zhaowei Yu1, Taylor Henderson1
1Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093 USA.
IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society
|August 18, 2025
概括
本研究介绍了CRANE,这是一种机器人系统,用于在计算机断层扫描 (CT) 引导程序中精确放置针头. 起重机提高了灵巧性和准确性,有可能改善最少的侵入性治疗.
科学领域:
- 医疗机器人 医疗机器人
- 以图像为指导的干预措施
- 最少侵入性的手术
背景情况:
- 计算机断层扫描 (CT) 图像指导对于最小侵入性治疗至关重要,但自由手针调整受到准确性和患者运动的限制.
- 尽量减少辐射暴露需要降低扫描频率,这给在程序期间实时调整带来了挑战.
研究的目的:
- 开发一个CT兼容的机器人系统,CRANE (CT机器人手臂和针置换器),以提高机器人辅助针置置的灵巧性和准确性.
- 定义临床相关的指标,用于评估图像引导程序的钻孔内机器人灵敏度.
- 为了创建一个自动化的规划和控制方法,用于机器人针头操纵在CT扫描仪内.
主要方法:
- 设计了CRANE,一个CT兼容的机器人,专注于高灵巧度,用于扫描仪内的自然针头操纵.
- 开发了抽象和可测量的指标来评估机器人机敏度.
- 实现了自动机器人计划和控制系统,用于内孔针操纵和设备设置.
- 利用冗余链接设计,以适应各种各样的人类形态.
主要成果:
- 克兰系统表现出高位置精度和能够补偿生理运动的能力.
- 冗余链接设计提供了适合不同患者解剖学的灵巧性.
- 该系统在现场评估期间满足了针对目标准确性的临床要求.
结论:
- 克兰提供了一种灵巧而准确的解决方案,用于在CT扫描仪中进行机器人辅助的针头放置.
- 开发的指标和控制方法为评估和实施内机器人系统提供了框架.
- 这种机器人方法有可能提高CT引导的微创治疗的安全性和有效性.
相关概念视频
01:10Computed Tomography
6.2K
Tomography refers to imaging by sections. Computed tomography (CT) is a non-invasive imaging technique that uses computers to analyze several cross-sectional X-rays to reveal minute details about structures in the body.
The technique was invented in the 1970s and is based on the principle that as X-rays pass through the body, they are absorbed or reflected at different levels. In the technique, a patient lies on a motorized platform while a computerized axial tomography (CAT) scanner rotates...
The technique was invented in the 1970s and is based on the principle that as X-rays pass through the body, they are absorbed or reflected at different levels. In the technique, a patient lies on a motorized platform while a computerized axial tomography (CAT) scanner rotates...
6.2K
01:14Imaging Studies I: CT and MRI
441
Introduction: MRI and CT scans are crucial advancements in medical imaging techniques, playing a vital role in diagnosing conditions related to the gastrointestinal (GI) system. Each scan serves distinct purposes, targets specific areas, and requires unique nursing duties.
Description of the Procedures
Computed Tomography (CT) scan:
Computed Tomography (CT) scans use X-ray technology to generate detailed images of bones, organs, and tissues. During the scan, the patient lies on a moving table...
Description of the Procedures
Computed Tomography (CT) scan:
Computed Tomography (CT) scans use X-ray technology to generate detailed images of bones, organs, and tissues. During the scan, the patient lies on a moving table...
441
01:24Magnetic Resonance Imaging
6.8K
Magnetic resonance imaging (MRI) is a noninvasive medical imaging technique based on a phenomenon of nuclear physics discovered in the 1930s, in which matter exposed to magnetic fields and radio waves was found to emit radio signals. In 1970, a physician and researcher named Raymond Damadian noticed that malignant (cancerous) tissue gave off different signals than normal body tissue. He applied for a patent for the first MRI scanning device in clinical use by the early 1980s. The early MRI...
6.8K
01:21Imaging Studies for Cardiovascular System IV: CMRI
137
Cardiovascular magnetic resonance imaging, or CMRI, is a non-invasive diagnostic test that employs a magnetic field and radiofrequency waves to create precise images of the heart and arteries. It provides comprehensive information about cardiac anatomy, function, perfusion, and tissue characterization without ionizing radiation.IndicationsCMRI diagnoses various heart conditions, including tissue damage from heart attacks, ischemic heart disease, myocarditis, aortic issues (tears, aneurysms,...
137