Resolution-Enhanced MRI-Guided Navigation of Spinal Cellular Injection Robot

Autor: Waiman Meinhold, Daniel Enrique Martinez, Ai-Ping Hu, John N. Oshinski, Jun Ueda
Rok vydání: 2020
Předmět:
FOS: Computer and information sciences
Computer science
Computer Vision and Pattern Recognition (cs.CV)
0206 medical engineering
Computer Science - Computer Vision and Pattern Recognition
02 engineering and technology
030218 nuclear medicine & medical imaging
03 medical and health sciences
Computer Science - Robotics
0302 clinical medicine
medicine
FOS: Electrical engineering
electronic engineering
information engineering
Computer vision
Image resolution
Robot kinematics
medicine.diagnostic_test
business.industry
Resolution (electron density)
Image and Video Processing (eess.IV)
Magnetic resonance imaging
Electrical Engineering and Systems Science - Image and Video Processing
020601 biomedical engineering
Robot
Artificial intelligence
Fiducial marker
business
Surgical robot
Robotics (cs.RO)
Mri guided
Zdroj: ISMR
DOI: 10.48550/arxiv.2006.05544
Popis: This paper presents a method of navigating a surgical robot beyond the resolution of magnetic resonance imaging (MRI) by using a resolution enhancement technique enabled by high-precision piezoelectric actuation. The surgical robot was specifically designed for injecting stem cells into the spinal cord. This particular therapy can be performed in a shorter time by using a MRI-compatible robotic platform than by using a manual needle positioning platform. Imaging resolution of fiducial markers attached to the needle guide tubing was enhanced by reconstructing a high-resolution image from multiple images with sub-pixel movements of the robot. The parallel-plane direct-drive needle positioning mechanism positioned the needle guide with a high spatial precision that is two orders of magnitude higher than typical MRI resolution up to 1 mm. Reconstructed resolution enhanced images were used to navigate the robot precisely that would not have been possible by using standard MRI. Experiments were conducted to verify the effectiveness of the proposed enhanced-resolution image-guided intervention.
Comment: 6 pages, 10 figures, 3 tables, conference
Databáze: OpenAIRE
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