Abstract
Abstract Performing minimal invasive interventions under real-time image guidance proves problematic in a closed-bore magnetic resonance imaging scanner. To enable better usability in MRI guided interventions, robotic systems could be used for additional assistance. However, the integration of such devices into the clinical workflow relates to many technical challenges in order to increase precision of the procedure while ensuring the overall safety. In this work, an MR compatible, compact, ultra-light and remotely controllable micropositioning system called μRIGS is presented. The instrument positioning unit can be operated in a 5-DoF range within a working volume of 2100 cm3with an instrument feed of 120 mm. The kinematics are actuated with a combination of non-metallic Bowden cables and electric stepper motors from a safe distance inside the scanner room, while their control is initiated from the control room via a custom-fitted GUI. Thereby, the precision of the positioning reproducibility of the respective DoF can be achieved with a mean deviation of 0.12 °. Furthermore, a feed force of 14 N can be provided to puncture various soft tissue.
Highlights
In this work, an MR compatible, compact, ultra-light and remotely controllable micropositioning system called μRIGS is presented
magnetic resonance imaging (MRI) has the unique ability to measure temperature distribution non-invasively. These aspects form the basis for performing MRI guided diagnostic procedures and minimally invasive therapeutic interventions. [1,2,3]
Some disadvantages complicate the application in clinical practice, such as the constricted space in the MR bore or the non-standardized workflows, which currently limit interventional MRI to relatively small number of cases in specialized centers [1]
Summary
ΜRIGS is basically composed of the instrument positioning unit (IPU) and the drive unit (DU), which initiates the motion sequences at the IPU remotely.
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