Interventional Radiology Robot for CT and MRI Guided Percutaneous Interventions
| Autor: | Ivan Bricault, Philippe Cinquin, Nikolai Hungr, Adeline L. G. Robert, Céline Fouard |
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| Přispěvatelé: | Gestes Medico-chirurgicaux Assistés par Ordinateur (TIMC-IMAG-GMCAO), Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525 (TIMC-IMAG), VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF), GMCAO, VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF)-Service central de radiologie et d'imagerie médicale, CHU Grenoble-Hôpital Michallon-CHU Grenoble-Hôpital Michallon, Gabor Fichtinger, Anne Martel and Terry Peters |
| Rok vydání: | 2011 |
| Předmět: |
Magnetic resonance compatibility
0209 industrial biotechnology medicine.medical_specialty Percutaneous Interventional magnetic resonance imaging Image processing 02 engineering and technology Image guided Ultrasonic motors 030218 nuclear medicine & medical imaging 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine Sterilization [INFO.INFO-IM]Computer Science [cs]/Medical Imaging medicine Interventional radiology medicine.diagnostic_test business.industry Robotics Real-time MRI Artificial intelligence Tomography Radiology Nuclear medicine business Fiducial marker CT MRI |
| Zdroj: | Lecture Notes in Computer Science ISBN: 9783642236228 MICCAI (1) Medical Image Computing and Computer-Assisted Intervention-MICCAI 2011 Medical Image Computing and Computer-Assisted Intervention MICCAI 2011 Medical Image Computing and Computer-Assisted Intervention MICCAI 2011, Sep 2011, Toronto, Canada. pp.137-144, ⟨10.1007/978-3-642-23623-5_18⟩ |
| Popis: | International audience; This paper introduces a new patient-mounted CT and MRI guided interventional radiology robot for percutaneous needle interventions. The 5 DOF robot uses ultrasonic motors and pneumatics to position the needle and then insert it progressively. The needle position and inclination can be registered in the images using two strategically placed fiducials visible in both imaging modalities. A first prototype is presented and described in terms of its sterilization, CT and MRI compatibility, and precision. Tests showed that 1) it is entirely sterilizable with hydrogen peroxide gas, 2) no image artifacts or deformations are noticeable in the CT and MRI images, 3) does not affect the SNR of MR images, and 4) its mechanical error is less than 5mm. |
| Databáze: | OpenAIRE |
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