AI Article Synopsis
- MR-guided microwave ablation (MWA) is effective for treating small hepatocellular carcinoma (HCC) tumors, but manual needle insertion often leads to inaccuracies in the procedure.
- This paper introduces a compact MR-conditional robot designed to enhance needle guidance, featuring stacked Cartesian XY stages with pneumatic actuation for precise control.
- Initial experiments show a needle insertion accuracy of 2.6 ± 1.3 mm at an 80 mm depth, and future developments will aim to optimize the system and conduct animal trials for further validation.
Article Abstract
MR-guided microwave ablation (MWA) has proven effective in treating hepatocellular carcinoma (HCC) with small-sized tumors, but the state-of-the-art technique suffers from sub-optimal workflow due to the limited accuracy provided by the manual needle insertions. This paper presents a compact body-mounted MR-conditional robot that can operate in closed-bore MR scanners for accurate needle guidance. The robotic platform consists of two stacked Cartesian XY stages, each with two degrees of freedom, that facilitate needle insertion pose control. The robot is actuated using 3D-printed pneumatic turbines with MR-conditional bevel gear transmission systems. Pneumatic valves and control mechatronics are located inside the MRI control room and are connected to the robot with pneumatic transmission lines and optical fibers. Free-space experiments indicated robot-assisted needle insertion error of 2.6 ± 1.3 mm at an insertion depth of 80 mm. The MR-guided phantom studies were conducted to verify the MR-conditionality and targeting performance of the robot. Future work will focus on the system optimization and validations in animal trials.
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| http://dx.doi.org/10.1007/s10439-024-03503-2 | DOI Listing |
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Article Synopsis
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