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

Autor:	Martinez, Daniel Enrique, Meinhold, Waiman, Oshinski, John, Hu, Ai-Ping, Ueda, Jun
Rok vydání:	2020
Předmět:	Computer Science - Robotics Computer Science - Computer Vision and Pattern Recognition Electrical Engineering and Systems Science - Image and Video Processing
Druh dokumentu:	Working Paper
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:	arXiv
Externí odkaz:	http://arxiv.org/abs/2006.05544 Zobrazit plný text záznamu View this record from Arxiv